Experimental Evaluation of a Stiffness-Fault-Tolerant Control Strategy on an Elastic Actuator for Wearable Robotics

Velasco Guillen RJ, Grosu V, Vanderborght B, Font-Llagunes JM, Beckerle P (2022)

Publication Type: Conference contribution

Publication year: 2022

Publisher: IEEE Computer Society

Book Volume: 2022-August

Conference Proceedings Title: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

Event location: Seoul KR

ISBN: 9781665458498

DOI: 10.1109/BioRob52689.2022.9925448

Abstract

Elastic actuator design is primarily motivated by safety in human-robot interaction and energy efficiency. However, the increased complexity when compared to direct drives, makes the system prone to technical faults in elastic and kinematic elements. On the other hand, Variable Stiffness Actuators (VSA) often introduce non-linear torque-deformation relationships. We propose a stiffness-fault-Tolerant control strategy for elastic actuators with non-linear compliant characteristics, capable of adapting to stiffness changes. The control strategy is demonstrated experimentally in a MACCEPA-based elastic actuator designed to power a knee exoskeleton. We develop the general model-based control scheme based on impedance control and adapt it to the experimental actuation system. Experiential evaluations under oscillatory and sigmoid trajectories are considered to analyze performance. Results demonstrate that the control system is capable of accurately tracking a reference trajectory under stiffness variations and interaction disturbance.

Authors with CRIS profile

Rodrigo Jose Velasco Guillen Lehrstuhl für Autonome Systeme und Mechatronik Philipp Beckerle Lehrstuhl für Autonome Systeme und Mechatronik

Involved external institutions

Grovixon BE Belgium (BE) Vrije Universiteit Brussel (VUB) BE Belgium (BE) Polytechnic University of Catalonia / Universitat Politècnica de Catalunya ES Spain (ES)

How to cite

APA:

Velasco Guillen, R.J., Grosu, V., Vanderborght, B., Font-Llagunes, J.M., & Beckerle, P. (2022). Experimental Evaluation of a Stiffness-Fault-Tolerant Control Strategy on an Elastic Actuator for Wearable Robotics. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Seoul, KR: IEEE Computer Society.

MLA:

Velasco Guillen, Rodrigo Jose, et al. "Experimental Evaluation of a Stiffness-Fault-Tolerant Control Strategy on an Elastic Actuator for Wearable Robotics." Proceedings of the 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022, Seoul IEEE Computer Society, 2022.

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