Design and reflex control for a series elastic actuator based ankle joint emulator

Mingwen Li, Muye Pang, Kui Xiang, Zhaojie Ju, Shenpei Zhou

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

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Abstract

Human body is a highly efficient stable system, although the center of mass is high. While quiet standing ankle joint has the function of resisting disturbance to maintain balance of human body. Studying the control mechanism of ankle joint helps to improve relative technologies such as bipedal robot, powered prosthesis and exoskeleton. In this paper, a series elastic actuator (SEA) based ankle joint emulator and reflex-like control algorithm are purposed to test human push-recovery mechanism. The SEA element provides an easy way for ankle joint torque control. Proportion-Derivative (PD) based reflex-like control algorithm calculates reference torque for SEA element. Experimental results indicate that this proposed emulator has the ability to mimic human ankle joint quiet standing push-recovery performance. The emulator is a useful platform to test further human ankle joint torque control function.

Original languageEnglish
Title of host publicationProceedings of the 3rd International Conference on Advanced Robotics and Mechatronics
Subtitle of host publicationICARM 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages818-823
Number of pages6
ISBN (Electronic)978-1-5386-7066-8
ISBN (Print)978-1-5386-7067-5
DOIs
Publication statusPublished - 14 Jan 2019
Event3rd IEEE International Conference on Advanced Robotics and Mechatronics - University Town, Singapore, Singapore
Duration: 18 Jul 201820 Jul 2018
http://www.ieee-arm.org/icarm2018/

Conference

Conference3rd IEEE International Conference on Advanced Robotics and Mechatronics
Abbreviated titleICARM 2018
Country/TerritorySingapore
CitySingapore
Period18/07/1820/07/18
Internet address

Keywords

  • ankle joint
  • push-recovery
  • reflex-like control
  • series elastic actuator

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