Position control using adaptive backlash compensation for bowden cable transmission in soft wearable exoskeleton
| Autor: | Michele Xiloyannis, Lorenzo Masia, Leonardo Cappello, Binh Khanh Dinh |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Test bench Adaptive control business.industry Wearable computer Control engineering Bowden cable 02 engineering and technology Exoskeleton Compensation (engineering) law.invention 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Transmission (telecommunications) Control theory law business Backlash |
| Zdroj: | IROS |
| DOI: | 10.1109/iros.2016.7759834 |
| Popis: | In recent years, bowden-cable transmissions have been developed and utilized widely in many robotic applications due to advantages in durability, lightweight, safety, and flexibility. Especially, over the last decade, a substantial number of soft wearable exoskeletons using bowden cables for motion transmission have been designed for human assistance, empowerment and rehabilitation. The major advantage of soft assistive devices driven by bowden-cable transmissions is to allow decentralizing the actuation stages proximally such that their mass has the least effect on the end-effector. Besides the advantage, the main drawback of the bowden cable-driven system comes from the presence of nonlinearities such as friction and backlash hysteresis that affects their control accuracy. Hence, in this paper, we introduce a mathematical model for backlash hysteresis and propose a solution based on the nonlinear adaptive control to compensate for the backlash effect. The backlash hysteresis model and control scheme are validated first on a custom-designed test bench and then applied to control a soft exoskeleton in a preliminary human trial. |
| Databáze: | OpenAIRE |
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