A Stiffness-Fault-Tolerant Control Strategy for an Elastically Actuated Powered Knee Orthosis
Velasco-Guillen RJ, Grosu V, Carmona-Ortiz VA, Vanderborght B, Lefeber D, Font-Llagunes JM, Beckerle P (2020)
Publication Type: Conference contribution
Publication year: 2020
Publisher: IEEE Computer Society
Book Volume: 2020-November
Pages Range: 660-665
Conference Proceedings Title: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Event location: New York City, NY
ISBN: 9781728159072
DOI: 10.1109/BioRob49111.2020.9224403
Abstract
Elastic actuators can provide safe human-robot interaction and energy efficient mobility. For this purpose they are ideal for wearable robotic applications. However, such actuators are subject to stiffness faults. We present a stiffness-fault-tolerant control strategy for complex elastic actuators, capable of adapting to changes in output stiffness, and demonstrate it on a smart variable stiffness actuator based on the MACCEPA concept. We develop the dynamics of the actuator and a model-based impedance control scheme. Biomechanical data extracted from the flexion/extension of a real knee joint are used as trajectory reference for the evaluation of the control concept in simulation. Results show that the controlled actuator is capable of tracking a reference trajectory under fault conditions and interaction disturbance while maintaining physical human-robot characteristics.
Authors with CRIS profile
Involved external institutions
Vrije Universiteit Brussel (VUB)
Belgium (BE)
Technische Universität Dortmund
Germany (DE)
Polytechnic University of Catalonia / Universitat Politècnica de Catalunya
Spain (ES)
Belgium (BE)
Technische Universität Dortmund
Germany (DE)
Polytechnic University of Catalonia / Universitat Politècnica de Catalunya
Spain (ES)
How to cite
APA:
Velasco-Guillen, R.J., Grosu, V., Carmona-Ortiz, V.A., Vanderborght, B., Lefeber, D., Font-Llagunes, J.M., & Beckerle, P. (2020). A Stiffness-Fault-Tolerant Control Strategy for an Elastically Actuated Powered Knee Orthosis. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 660-665). New York City, NY, US: IEEE Computer Society.
MLA:
Velasco-Guillen, Rodrigo J., et al. "A Stiffness-Fault-Tolerant Control Strategy for an Elastically Actuated Powered Knee Orthosis." Proceedings of the 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020, New York City, NY IEEE Computer Society, 2020. 660-665.
BibTeX: Download