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

Tecnologías médicas

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	IROS Hamburg 2015 - Conference Digest
Subtítulo de la publicación alojada	IEEE/RSJ International Conference on Intelligent Robots and Systems
Editorial	Institute of Electrical and Electronics Engineers Inc.
Páginas	5599-5604
Número de páginas	6
ISBN (versión digital)	9781479999941
DOI	https://doi.org/10.1109/IROS.2015.7354171
Estado	Publicada - 11 dic 2015
Evento	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Alemania Duración: 28 sept 2015 → 2 oct 2015

Serie de la publicación

Nombre	IEEE International Conference on Intelligent Robots and Systems
Volumen	2015-December
ISSN (versión impresa)	2153-0858
ISSN (versión digital)	2153-0866

Conferencia

Conferencia	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
País/Territorio	Alemania
Ciudad	Hamburg
Período	28/09/15 → 2/10/15

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 3: Salud y bienestar

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10.1109/IROS.2015.7354171

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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. En IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5599-5604). Artículo 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.",

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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. En 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, Alemania, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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AU - Mancisidor, Aitziber

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AU - Marcos, Marga

AU - Jung, Je Hyung

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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. En 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

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