2P1-F03 Power Assist Control of Exoskeletal Hydrostatic Robot Based on Singular Perturbation Control using Pressure Feedback(Welfare Robotics and Mechatronics(1))
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- TANAKA Hirokazu
- The University of Tokyo
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- KAMINAGA Hiroshi
- The University of Tokyo
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- PHAN Hoang Phuong
- The University of Tokyo
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- NAKAMURA Yoshihiko
- The University of Tokyo
Bibliographic Information
- Other Title
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- 2P1-F03 圧力フィードバックを用いた特異摂動法に基づく電気静油圧駆動パワーアシストの制御(福祉ロボティクス・メカトロニクス(1))
Abstract
Power assist robots need to estimate human motion to extend human physical abilities appropriately. In this paper, a control method for a knee power assist device using Electro-Hydrostatic Actuator(EHA) is proposed by using the fact that EHA is a singular perturbation system. The controller is based on singular perturbation control and uses disturbance observer to estimate external torque applied by operator. The estimated torque is used to increase sensitivity of the system by feedback control. The efficacy of the proposed method is evaluated by measured iEMG.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (0), _2P1-F03_1-_2P1-F03_4, 2011
The Japan Society of Mechanical Engineers
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Details
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- CRID
- 1390282680914205184
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- NII Article ID
- 110009711459
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed