Top

Published in:

2017 | OriginalPaper | Chapter

Interaction Force Estimation for Transparency Control on Wearable Robots Using a Kalman Filter

Authors : Thiago Boaventura, Lisa Hammer, Jonas Buchli

Published in: Converging Clinical and Engineering Research on Neurorehabilitation II

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

A wearable robot is constantly in contact with its user. To measure and control the human–robot interaction force is important to properly and safely perform tasks together with the wearer, such as walking and load carrying. To avoid the burdensome integration of force sensors at the human–robot attachments, we propose the use of a Kalman filter to perform data and sensor fusion to estimate the interaction force. We demonstrate the impact of real world issues on the measurement estimation and evaluate its performance in hardware. Preliminary simulation and experimental results demonstrate that good measurement prediction and control performance may be achieved with such an estimator.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

previous chapter Intuitive Control of a Prosthetic Elbow

next chapter Validation of a Gravity Compensation Algorithm for a Shoulder-Elbow Exoskeleton for Neurological Rehabilitation

H. Kazerooni, J.-L. Racine, L. Huang, R. Steger, On the control of the berkeley lower extremity exoskeleton (bleex), in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005 (IEEE, 2005), pp. 4353–4360

H.A. Varol, M. Goldfarb, Real-time intent recognition for a powered knee and ankle transfemoral prosthesis, in EEE 10th International Conference on Rehabilitation Robotics, 2007. ICORR 2007. I (IEEE, 2007), pp. 16–23

D. Zanotto, T. Lenzi, P. Stegall, S. Agrawal, Improving transparency of powered exoskeletons using force/torque sensors on the supporting cuffs, in 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), June 2013 (2013), pp. 1–6

K. Kong, H. Moon, B. Hwang, D. Jeon, M. Tomizuka, Impedance compensation of subar for back-drivable force-mode actuation. IEEE Trans. Robot. 25(3), 512–521 (2009)CrossRef

G. Aguirre-Ollinger, J. Colgate, M. Peshkin, A. Goswami, Inertia compensation control of a one-degree-of-freedom exoskeleton for lower-limb assistance: Initial experiments. IEEE Trans. Neural Syst. Rehabil. Eng. 20(1), 68–77 (2012). Jan

Title: Interaction Force Estimation for Transparency Control on Wearable Robots Using a Kalman Filter
Authors: Thiago Boaventura
Lisa Hammer
Jonas Buchli
Publisher: Springer International Publishing
Book: Converging Clinical and Engineering Research on Neurorehabilitation II
Print ISBN: 978-3-319-46668-2

Electronic ISBN: 978-3-319-46669-9

Copyright Year: 2017
DOI: https://doi.org/10.1007/978-3-319-46669-9_81