Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph

Aitziber Mancisidor; Asier Zubizarreta; Itziar Cabanes; Pablo Bengoa; Marga Marcos; Je Hyung Jung

doi:10.1109/IROS.2015.7354171

Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph

Aitziber Mancisidor
, Asier Zubizarreta
, Itziar Cabanes
, Pablo Bengoa
, Marga Marcos
, Je Hyung Jung

Neuroengineering

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

3 Citations (Scopus)

Abstract

The design of a stable and robust force controller is one of the most important and difficult tasks in rehabilitation robotics. In previous works, the Universal Haptic Pantograph (UHP) was presented as an alternative to conventional arm rehabilitation after a stroke. This robot is composed by a Series Elastic Actuator (SEA) and a Pantograph. In this work an enhanced force control for the UHP is presented. The proposed controller uses the robot model to estimate the contact force without direct measurement and to compensate nonlinearities in the actuators. In order to prove the effectiveness of the approach, several tests are carried out in simulation and experimentally. Results reveal that mean of tracking errors between desired and actual force is smaller than 0.1 N, which is significantly improved compare to that (around 2.5 N) shown in previous results of UHP, indicating that the proposed force control is likely to enhance haptic performance of the UHP.

Original language	English
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5599-5604
Number of pages	6
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7354171
Publication status	Published - 11 Dec 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Access to Document

10.1109/IROS.2015.7354171

Cite this

Mancisidor, A., Zubizarreta, A., Cabanes, I., Bengoa, P., Marcos, M., & Jung, J. H. (2015). Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5599-5604). Article 7354171 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354171

Mancisidor, Aitziber ; Zubizarreta, Asier ; Cabanes, Itziar et al. / Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 5599-5604 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph",

abstract = "The design of a stable and robust force controller is one of the most important and difficult tasks in rehabilitation robotics. In previous works, the Universal Haptic Pantograph (UHP) was presented as an alternative to conventional arm rehabilitation after a stroke. This robot is composed by a Series Elastic Actuator (SEA) and a Pantograph. In this work an enhanced force control for the UHP is presented. The proposed controller uses the robot model to estimate the contact force without direct measurement and to compensate nonlinearities in the actuators. In order to prove the effectiveness of the approach, several tests are carried out in simulation and experimentally. Results reveal that mean of tracking errors between desired and actual force is smaller than 0.1 N, which is significantly improved compare to that (around 2.5 N) shown in previous results of UHP, indicating that the proposed force control is likely to enhance haptic performance of the UHP.",

author = "Aitziber Mancisidor and Asier Zubizarreta and Itziar Cabanes and Pablo Bengoa and Marga Marcos and Jung, \{Je Hyung\}",

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year = "2015",

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doi = "10.1109/IROS.2015.7354171",

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Mancisidor, A, Zubizarreta, A, Cabanes, I, Bengoa, P, Marcos, M & Jung, JH 2015, Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7354171, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 5599-5604, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7354171

Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph. / Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar et al.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 5599-5604 7354171 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

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

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T1 - Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph

AU - Mancisidor, Aitziber

AU - Zubizarreta, Asier

AU - Cabanes, Itziar

AU - Bengoa, Pablo

AU - Marcos, Marga

AU - Jung, Je Hyung

PY - 2015/12/11

Y1 - 2015/12/11

N2 - The design of a stable and robust force controller is one of the most important and difficult tasks in rehabilitation robotics. In previous works, the Universal Haptic Pantograph (UHP) was presented as an alternative to conventional arm rehabilitation after a stroke. This robot is composed by a Series Elastic Actuator (SEA) and a Pantograph. In this work an enhanced force control for the UHP is presented. The proposed controller uses the robot model to estimate the contact force without direct measurement and to compensate nonlinearities in the actuators. In order to prove the effectiveness of the approach, several tests are carried out in simulation and experimentally. Results reveal that mean of tracking errors between desired and actual force is smaller than 0.1 N, which is significantly improved compare to that (around 2.5 N) shown in previous results of UHP, indicating that the proposed force control is likely to enhance haptic performance of the UHP.

AB - The design of a stable and robust force controller is one of the most important and difficult tasks in rehabilitation robotics. In previous works, the Universal Haptic Pantograph (UHP) was presented as an alternative to conventional arm rehabilitation after a stroke. This robot is composed by a Series Elastic Actuator (SEA) and a Pantograph. In this work an enhanced force control for the UHP is presented. The proposed controller uses the robot model to estimate the contact force without direct measurement and to compensate nonlinearities in the actuators. In order to prove the effectiveness of the approach, several tests are carried out in simulation and experimentally. Results reveal that mean of tracking errors between desired and actual force is smaller than 0.1 N, which is significantly improved compare to that (around 2.5 N) shown in previous results of UHP, indicating that the proposed force control is likely to enhance haptic performance of the UHP.

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Mancisidor A, Zubizarreta A, Cabanes I, Bengoa P, Marcos M, Jung JH. Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 5599-5604. 7354171. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7354171

Enhanced force control using force estimation and nonlinearity compensation for the Universal Haptic Pantograph

Abstract

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UN SDGs

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