Low Impedance-Guaranteed Gain-Scheduled GESO for Torque-Controlled VSA With Application of Exoskeleton-Assisted Sit-to-Stand

This article investigates a closed-loop torque-controlled variable stiffness actuator (VSA) combined with a disturbance observer for enhancing low output impedance. We implement the generalized extended state observer (GESO) for conveniently testing the stability of the time-varying VSA system. In o...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2021-08, Vol.26 (4), p.2080-2091
Hauptverfasser:	Liu, Lin, Hong, Zejun, Penzlin, Bernhard, Misgeld, Berno J. E., Ngo, Chuong, Bergmann, Lukas, Leonhardt, Steffen
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Brushless DC motors Continuously variable Disturbance observers Exoskeleton Exoskeletons Gain scheduling generalized extended state observer (GESO) High impedance Impedance Inverse dynamics linear parameter-varying (LPV) system Mathematical analysis State observers Stiffness Task analysis Torque torque control variable stiffness actuator (VSA)
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