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Active Compliance Control for the Rehabilitation Robot with Cable Driven Transmission

케이블 구동 메커니즘을 이용한 재활 로봇의 능동 컴플라이언스 제어

  • Published : 2004.12.01

Abstract

In this paper, we proposed a TDC based F/T sensorless active compliance control algorithm for a rehabilitation robot (KARES II). The preference of compliance of the disabled is presented by clinical testing at Korea National Rehabilitation Center with the disabled. The KARES II was designed to work 12 predefined tasks which are very essential for helping the disabled. Among the tasks, some contact tasks between the robot and the disabled exist. Therefore, TDC based F/T sensorless compliance control algorithm is developed for these tasks without additional cost. We verified the proposed algorithm with experiment. Also for the practical use, suitable compliance for contact tasks is chosen by clinical testing at Korea National Rehabilitation Center.

Keywords

Active Compliance Control;Sensorless F/T sensing;Rehabilitation Robot;Field Evaluation;Impedance Control;KARES II;Time-Delay Control;Time-Delay Estimation

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