Joint force control of parallel robot for ankle rehabilitation

Impedance control is a common interaction control strategy used in rehabilitation robots. A joint force controller has been developed for a redundantly actuated parallel robot to facilitate force based impedance control. The proposed controller utilizes only position/orientation dependent informatio...

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Bibliographic Details
Main Authors: Tsoi, Y.H., Xie, S.Q., Mallinson, G.D.
Format: Conference Proceeding
Language:English
Subjects:
Force control
Impedance
Manipulators
Null space
Orbital robotics
Parallel robots
Position measurement
Rehabilitation robotics
Velocity control
Velocity measurement
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Description
Summary:Impedance control is a common interaction control strategy used in rehabilitation robots. A joint force controller has been developed for a redundantly actuated parallel robot to facilitate force based impedance control. The proposed controller utilizes only position/orientation dependent information and therefore does not require accurate dynamic modeling and measurement of velocity quantities. The proposed controller uses a disturbance observer based approach and is designed for situations where the external forces applied on the robot are dominant compared to the inertial terms in the robot dynamics. Since the robot used is redundantly actuated, control of forces along the null space of the manipulator Jacobian transpose was also considered. Rationale behind the structure of the controller is developed throughout the paper and experimental results are also presented.
ISSN:1948-3449
1948-3457
DOI:10.1109/ICCA.2009.5410377