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Observer-based impedance control and passive velocity control of power assisting devices for exercise and rehabilitation
Power assisting devices can be found in many different applications, most notably, exercise/fitness equipment, rehabilitation of spinal cord injury or stroke patients, limb muscle enhancement of workers, and bionic limbs of amputee patient. Since the power assisting device has a direct contact with...
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creator | Chao-Jen Chen Ming-Yang Cheng Ke-Han Su |
description | Power assisting devices can be found in many different applications, most notably, exercise/fitness equipment, rehabilitation of spinal cord injury or stroke patients, limb muscle enhancement of workers, and bionic limbs of amputee patient. Since the power assisting device has a direct contact with the human user, in addition to providing suitable amount of assisting force, the highest priority in the design of power assisting devices is to ensure the safety of the human user. In order to fulfill such a requirement, in this paper an impedance controller and a passive velocity controller are combined to provide moderate amount of assisting force and also ensure the safety of the user simultaneously. Moreover, a torque observer is used to estimate the torque generated by the user's muscle rather than using a force sensor to measure the contact force between the user and the power assisting device. Experimental results verify the effectiveness of the observer-based impedance controller and the passive velocity controller. |
doi_str_mv | 10.1109/IECON.2013.6700207 |
format | conference_proceeding |
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Since the power assisting device has a direct contact with the human user, in addition to providing suitable amount of assisting force, the highest priority in the design of power assisting devices is to ensure the safety of the human user. In order to fulfill such a requirement, in this paper an impedance controller and a passive velocity controller are combined to provide moderate amount of assisting force and also ensure the safety of the user simultaneously. Moreover, a torque observer is used to estimate the torque generated by the user's muscle rather than using a force sensor to measure the contact force between the user and the power assisting device. Experimental results verify the effectiveness of the observer-based impedance controller and the passive velocity controller.</description><identifier>ISSN: 1553-572X</identifier><identifier>EISBN: 1479902241</identifier><identifier>EISBN: 9781479902248</identifier><identifier>DOI: 10.1109/IECON.2013.6700207</identifier><language>eng</language><publisher>IEEE</publisher><subject>Force ; Impedance ; impedance control ; Medical treatment ; Muscles ; Observers ; passive control ; power assisting device ; rehabilitation ; Torque ; torque observer ; Vectors</subject><ispartof>IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, 2013, p.6502-6507</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6700207$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54555,54920,54932</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6700207$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Chao-Jen Chen</creatorcontrib><creatorcontrib>Ming-Yang Cheng</creatorcontrib><creatorcontrib>Ke-Han Su</creatorcontrib><title>Observer-based impedance control and passive velocity control of power assisting devices for exercise and rehabilitation</title><title>IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society</title><addtitle>IECON</addtitle><description>Power assisting devices can be found in many different applications, most notably, exercise/fitness equipment, rehabilitation of spinal cord injury or stroke patients, limb muscle enhancement of workers, and bionic limbs of amputee patient. Since the power assisting device has a direct contact with the human user, in addition to providing suitable amount of assisting force, the highest priority in the design of power assisting devices is to ensure the safety of the human user. In order to fulfill such a requirement, in this paper an impedance controller and a passive velocity controller are combined to provide moderate amount of assisting force and also ensure the safety of the user simultaneously. Moreover, a torque observer is used to estimate the torque generated by the user's muscle rather than using a force sensor to measure the contact force between the user and the power assisting device. Experimental results verify the effectiveness of the observer-based impedance controller and the passive velocity controller.</description><subject>Force</subject><subject>Impedance</subject><subject>impedance control</subject><subject>Medical treatment</subject><subject>Muscles</subject><subject>Observers</subject><subject>passive control</subject><subject>power assisting device</subject><subject>rehabilitation</subject><subject>Torque</subject><subject>torque observer</subject><subject>Vectors</subject><issn>1553-572X</issn><isbn>1479902241</isbn><isbn>9781479902248</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2013</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNo9kEFLAzEUhCMo2Fb_gF7yB7a-l2Sb7lFK1UKxFwVvJZu8aGS7WZJlbf-9VYunOczMBzOM3SBMEaG6Wy0Xm-epAJTTmQYQoM_YGJWuKhBC4TkbYVnKotTi7ZKNc_4EKNV8hiO239SZ0kCpqE0mx8OuI2daS9zGtk-x4aZ1vDM5h4H4QE20oT_8m9HzLn5R4j-B3If2nTsagqXMfUyc9pRsyPQLSfRh6tCE3vQhtlfswpsm0_VJJ-z1YfmyeCrWm8fV4n5dBNRlX2ANCOSEVY7q4xRFx3VUz7VBD95KiRUKNffCQkmkZkqg0eJY8KCcl0JO2O0fNxDRtkthZ9Jhe3pJfgOwMl79</recordid><startdate>201311</startdate><enddate>201311</enddate><creator>Chao-Jen Chen</creator><creator>Ming-Yang Cheng</creator><creator>Ke-Han Su</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201311</creationdate><title>Observer-based impedance control and passive velocity control of power assisting devices for exercise and rehabilitation</title><author>Chao-Jen Chen ; Ming-Yang Cheng ; Ke-Han Su</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-1b010ed2c4deb2414e020eb87a1f0fc33191248f2c05ee46421a72ed2f04df323</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2013</creationdate><topic>Force</topic><topic>Impedance</topic><topic>impedance control</topic><topic>Medical treatment</topic><topic>Muscles</topic><topic>Observers</topic><topic>passive control</topic><topic>power assisting device</topic><topic>rehabilitation</topic><topic>Torque</topic><topic>torque observer</topic><topic>Vectors</topic><toplevel>online_resources</toplevel><creatorcontrib>Chao-Jen Chen</creatorcontrib><creatorcontrib>Ming-Yang Cheng</creatorcontrib><creatorcontrib>Ke-Han Su</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Chao-Jen Chen</au><au>Ming-Yang Cheng</au><au>Ke-Han Su</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Observer-based impedance control and passive velocity control of power assisting devices for exercise and rehabilitation</atitle><btitle>IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society</btitle><stitle>IECON</stitle><date>2013-11</date><risdate>2013</risdate><spage>6502</spage><epage>6507</epage><pages>6502-6507</pages><issn>1553-572X</issn><eisbn>1479902241</eisbn><eisbn>9781479902248</eisbn><abstract>Power assisting devices can be found in many different applications, most notably, exercise/fitness equipment, rehabilitation of spinal cord injury or stroke patients, limb muscle enhancement of workers, and bionic limbs of amputee patient. Since the power assisting device has a direct contact with the human user, in addition to providing suitable amount of assisting force, the highest priority in the design of power assisting devices is to ensure the safety of the human user. In order to fulfill such a requirement, in this paper an impedance controller and a passive velocity controller are combined to provide moderate amount of assisting force and also ensure the safety of the user simultaneously. Moreover, a torque observer is used to estimate the torque generated by the user's muscle rather than using a force sensor to measure the contact force between the user and the power assisting device. Experimental results verify the effectiveness of the observer-based impedance controller and the passive velocity controller.</abstract><pub>IEEE</pub><doi>10.1109/IECON.2013.6700207</doi><tpages>6</tpages></addata></record> |
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ispartof | IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, 2013, p.6502-6507 |
issn | 1553-572X |
language | eng |
recordid | cdi_ieee_primary_6700207 |
source | IEEE Xplore All Conference Series |
subjects | Force Impedance impedance control Medical treatment Muscles Observers passive control power assisting device rehabilitation Torque torque observer Vectors |
title | Observer-based impedance control and passive velocity control of power assisting devices for exercise and rehabilitation |
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