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

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

doi:10.1109/ICARM.2018.8610713

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

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

School of Computing

Wuhan University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 3rd International Conference on Advanced Robotics and Mechatronics
Subtitle of host publication	ICARM 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	818-823
Number of pages	6
ISBN (Electronic)	978-1-5386-7066-8
ISBN (Print)	978-1-5386-7067-5
DOIs	https://doi.org/10.1109/ICARM.2018.8610713
Publication status	Published - 14 Jan 2019
Event	3rd IEEE International Conference on Advanced Robotics and Mechatronics - University Town, Singapore, Singapore Duration: 18 Jul 2018 → 20 Jul 2018 http://www.ieee-arm.org/icarm2018/

Conference

Conference	3rd IEEE International Conference on Advanced Robotics and Mechatronics
Abbreviated title	ICARM 2018
Country/Territory	Singapore
City	Singapore
Period	18/07/18 → 20/07/18
Internet address	http://www.ieee-arm.org/icarm2018/

Keywords

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

Access to Document

10.1109/ICARM.2018.8610713

PID5397735
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Accepted author manuscript (Post-print), 492 KB

Cite this

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title = "Design and reflex control for a series elastic actuator based ankle joint emulator",

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.",

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year = "2019",

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language = "English",

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booktitle = "Proceedings of the 3rd International Conference on Advanced Robotics and Mechatronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 ; Conference date: 18-07-2018 Through 20-07-2018",

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Li, M, Pang, M, Xiang, K, Ju, Z & Zhou, S 2019, Design and reflex control for a series elastic actuator based ankle joint emulator. in Proceedings of the 3rd International Conference on Advanced Robotics and Mechatronics: ICARM 2018. Institute of Electrical and Electronics Engineers Inc., pp. 818-823, 3rd IEEE International Conference on Advanced Robotics and Mechatronics, Singapore, Singapore, 18/07/18. https://doi.org/10.1109/ICARM.2018.8610713

Design and reflex control for a series elastic actuator based ankle joint emulator. / Li, Mingwen; Pang, Muye; Xiang, Kui et al.
Proceedings of the 3rd International Conference on Advanced Robotics and Mechatronics: ICARM 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 818-823.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Design and reflex control for a series elastic actuator based ankle joint emulator

AU - Li, Mingwen

AU - Pang, Muye

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AU - Ju, Zhaojie

AU - Zhou, Shenpei

PY - 2019/1/14

Y1 - 2019/1/14

N2 - 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.

AB - 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.

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KW - push-recovery

KW - reflex-like control

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BT - Proceedings of the 3rd International Conference on Advanced Robotics and Mechatronics

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Y2 - 18 July 2018 through 20 July 2018

ER -

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

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Keywords

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