Observer-based impedance control and passive velocity control of power assisting devices for exercise and rehabilitation

Chao Jen Chen, Ming-Yang Cheng, Ke Han Su

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

6 Citations (Scopus)

Abstract

Power assisting devices can be found in many different applications, most notably, exercise/fitness equipment, rehabilitation of spinal cord injury or stroke patients, limb muscle enhancement of workers, and bionic limbs of amputee patient. Since the power assisting device has a direct contact with the human user, in addition to providing suitable amount of assisting force, the highest priority in the design of power assisting devices is to ensure the safety of the human user. In order to fulfill such a requirement, in this paper an impedance controller and a passive velocity controller are combined to provide moderate amount of assisting force and also ensure the safety of the user simultaneously. Moreover, a torque observer is used to estimate the torque generated by the user's muscle rather than using a force sensor to measure the contact force between the user and the power assisting device. Experimental results verify the effectiveness of the observer-based impedance controller and the passive velocity controller.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6502-6507
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Country/TerritoryAustria
CityVienna
Period13-11-1013-11-14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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