Output torque regulation through series elastic actuation with torsion spring hysteresis

Wei Wang; Shigeki Sugano

doi:10.1109/ROBIO.2014.7090413

Output torque regulation through series elastic actuation with torsion spring hysteresis

Wei Wang, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the nonlinearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that the compensated control can improve the control performance compared with ordinary linear controller.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	701-706
Number of pages	6
ISBN (Print)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090413
Publication status	Published - 2014 Apr 20
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 2014 Dec 5 → 2014 Dec 10

Other

Other	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	14/12/5 → 14/12/10

ASJC Scopus subject areas

Biotechnology
Artificial Intelligence
Human-Computer Interaction

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10.1109/ROBIO.2014.7090413

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Output torque regulation through series elastic actuation with torsion spring hysteresis. / Wang, Wei ; Sugano, Shigeki.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 701-706 7090413.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wang, W & Sugano, S 2014, Output torque regulation through series elastic actuation with torsion spring hysteresis. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090413, Institute of Electrical and Electronics Engineers Inc., pp. 701-706, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 14/12/5. https://doi.org/10.1109/ROBIO.2014.7090413

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title = "Output torque regulation through series elastic actuation with torsion spring hysteresis",

abstract = "Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the nonlinearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that the compensated control can improve the control performance compared with ordinary linear controller.",

author = "Wei Wang and Shigeki Sugano",

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doi = "10.1109/ROBIO.2014.7090413",

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AB - Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the nonlinearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that the compensated control can improve the control performance compared with ordinary linear controller.

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ER -

Output torque regulation through series elastic actuation with torsion spring hysteresis

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