Output torque regulation through series elastic actuation with torsion spring hysteresis

    Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
    Title of host publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages701-706
    Number of pages6
    ISBN (Print)9781479973965
    DOIs
    Publication statusPublished - 2014 Apr 20
    Event2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia
    Duration: 2014 Dec 52014 Dec 10

    Other

    Other2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
    CountryIndonesia
    CityBali
    Period14/12/514/12/10

    Fingerprint

    Torque
    Quality Control
    Torsional stress
    Hysteresis
    Control nonlinearities
    Feedback control
    Identification (control systems)
    Controllers
    Experiments

    ASJC Scopus subject areas

    • Biotechnology
    • Artificial Intelligence
    • Human-Computer Interaction

    Cite this

    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 (pp. 701-706). [7090413] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090413

    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 proceedingConference 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
    Wang W, Sugano S. Output torque regulation through series elastic actuation with torsion spring hysteresis. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 701-706. 7090413 https://doi.org/10.1109/ROBIO.2014.7090413
    Wang, Wei ; Sugano, Shigeki. / Output torque regulation through series elastic actuation with torsion spring hysteresis. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 701-706
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