Joint Torque Estimation of a Powered Exoskeleton under Compliance Control Loop

Chiawei Liang*, Te-Sheng Hsiao, Chin Chi Hsiao

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Exoskeletons have been widely used as walking assistive devices for military and rehabilitation purposes. Many exoskeleton control systems detect users' intention by directly sensing their biological signals such as EMG, EEG, force, etc. Therefore, additional sensors are required, resulting in high cost and inconvenience of putting on and taking off the exoskeleton. In this paper, the user's intention is detected by estimating the torque exerted by the user based on exoskeleton dynamics as well as the current and angle of each joint motor; hence, requirements of sensors are diminished. Moreover, we conduct compliance control by modifying joint velocity commands according to the estimated torque and predefined mechanical admittance of each joint. Experiments are carried out to demonstrate that satisfactory estimation of the user's torque can be achieved by the proposed method.

Original languageEnglish
Title of host publication2018 International Automatic Control Conference, CACS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538662786
DOIs
StatePublished - 9 Jan 2019
Event2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan
Duration: 4 Nov 20187 Nov 2018

Publication series

Name2018 International Automatic Control Conference, CACS 2018

Conference

Conference2018 International Automatic Control Conference, CACS 2018
CountryTaiwan
CityTaoyuan
Period4/11/187/11/18

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    Liang, C., Hsiao, T-S., & Hsiao, C. C. (2019). Joint Torque Estimation of a Powered Exoskeleton under Compliance Control Loop. In 2018 International Automatic Control Conference, CACS 2018 [8606743] (2018 International Automatic Control Conference, CACS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2018.8606743