Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach

This letter presents an enhanced external torque estimation algorithm for series elastic actuators (SEAs) expanding the usability of the residual-based technique. Although the residual method demonstrates online torque estimation capability in diverse applications and thus becomes popular, it is pra...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2018-07, Vol.3 (3), p.1442-1449
Main Authors: Jinoh Lee, Chan Lee, Tsagarakis, Nikolaos, Sehoon Oh
Format: Article
Language:English
Subjects:
Actuators
Algorithms
Compliant joint/mechanism
Computer simulation
Estimation
flexible robots
Frequency domain analysis
Performance degradation
physical human–robot interaction
Robots
Sea measurements
Springs
Stiffness
Torque
Torque measurement
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Summary:This letter presents an enhanced external torque estimation algorithm for series elastic actuators (SEAs) expanding the usability of the residual-based technique. Although the residual method demonstrates online torque estimation capability in diverse applications and thus becomes popular, it is practically challenging to achieve accurate estimation performance in a wide stiffness range of SEAs. The performance degradation is mainly induced by inaccurate transmission torque information, which is stemmed from unexpected errors in the spring deflection based torque sensing. To overcome the issue, this letter analyses the limitation of the conventional approach in frequency domain and proposes the enhanced residual to be used over a wide stiffness range of SEAs. The performance of proposed method is comparatively verified with conventional method in the both of simulations and experiments.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2018.2800128