Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering
Series elastic actuation (SEA) is an interaction control paradigm that relies on a compliant force sensing element and utilizes the model of this compliant dynamics in closed-loop force control. We present sufficient conditions for passivity of SEA under model reference force control (MRFC) during n...
Gespeichert in:
| Veröffentlicht in: | IEEE transactions on haptics 2022-01, Vol.15 (1), p.51-56 |
|---|---|
| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 56 |
|---|---|
| container_issue | 1 |
| container_start_page | 51 |
| container_title | IEEE transactions on haptics |
| container_volume | 15 |
| creator | Kenanoglu, Celal Umut Patoglu, Volkan |
| description | Series elastic actuation (SEA) is an interaction control paradigm that relies on a compliant force sensing element and utilizes the model of this compliant dynamics in closed-loop force control. We present sufficient conditions for passivity of SEA under model reference force control (MRFC) during null impedance rendering. We prove that overestimation of robot inertia and underestimation of the stiffness of the series elastic element can ensure coupled stability of interaction for SEA under MRFC during null impedance rendering, as long as a lower limit on damping compensation is not violated. We experimentally verify the passivity bounds and demonstrate the null impedance rendering performance of MRFC. |
| doi_str_mv | 10.1109/TOH.2021.3140143 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_proquest_journals_2640432102</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>9669019</ieee_id><sourcerecordid>2640432102</sourcerecordid><originalsourceid>FETCH-LOGICAL-c347t-4f903c298233dfe24ec4d147426bb27ac826731150eb2071ce7f9ce9e532feb03</originalsourceid><addsrcrecordid>eNpdkU1LxDAQhoMoun7cBUECXrx0nUnS1hxlXXVh_cCPc2nTqUS6zZq0gv_eLLt68JIc5nmHl3kYO0YYI4K-eH28GwsQOJaoAJXcYiMhhU4UpLjNRqilTlCh2GP7IXwAZCLXapftSaUvRabViNmnMgT7Zftv7hr-Qt5S4NO2DL01_Mr0Q9lb1_G3ribP711NLX-mhjx1hviN8_GduK73ruXXg7fdO38Y2pbPFkuqyxXzTKtoHByynaZsAx1t_gP2djN9ndwl88fb2eRqnhip8j5RjQZpROwnZd2QUGRUjSpXIqsqkZcmFs8lYgpUCcjRUN5oQ5pSKRqqQB6w8_XepXefA4W-WNhgqG3LjtwQCpFhptNUQR7Rs3_ohxt8F9tFSoGSAkFECtaU8S4ET02x9HZR-u8CoVhpKKKGYqWh2GiIkdPN4qFaUP0X-L17BE7WgCWiv7HOMg1R2g8yIYqk</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2640432102</pqid></control><display><type>article</type><title>Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering</title><source>IEEE Electronic Library (IEL)</source><creator>Kenanoglu, Celal Umut ; Patoglu, Volkan</creator><creatorcontrib>Kenanoglu, Celal Umut ; Patoglu, Volkan</creatorcontrib><description>Series elastic actuation (SEA) is an interaction control paradigm that relies on a compliant force sensing element and utilizes the model of this compliant dynamics in closed-loop force control. We present sufficient conditions for passivity of SEA under model reference force control (MRFC) during null impedance rendering. We prove that overestimation of robot inertia and underestimation of the stiffness of the series elastic element can ensure coupled stability of interaction for SEA under MRFC during null impedance rendering, as long as a lower limit on damping compensation is not violated. We experimentally verify the passivity bounds and demonstrate the null impedance rendering performance of MRFC.</description><identifier>ISSN: 1939-1412</identifier><identifier>EISSN: 2329-4051</identifier><identifier>DOI: 10.1109/TOH.2021.3140143</identifier><identifier>PMID: 34982694</identifier><identifier>CODEN: ITHEBX</identifier><language>eng</language><publisher>United States: IEEE</publisher><subject>Actuation ; Actuators ; Damping ; Dynamics ; Electric Impedance ; Force ; Force control ; frequency domain passivity ; Humans ; Impedance ; interaction control ; Model reference ; model reference force control ; Modulus of elasticity ; Passivity ; Rendering ; Rendering (computer graphics) ; Robotics ; Series elastic actuation ; Stiffness ; Sufficient conditions</subject><ispartof>IEEE transactions on haptics, 2022-01, Vol.15 (1), p.51-56</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c347t-4f903c298233dfe24ec4d147426bb27ac826731150eb2071ce7f9ce9e532feb03</citedby><cites>FETCH-LOGICAL-c347t-4f903c298233dfe24ec4d147426bb27ac826731150eb2071ce7f9ce9e532feb03</cites><orcidid>0000-0002-6556-7054 ; 0000-0001-6644-3937</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9669019$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/9669019$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/34982694$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Kenanoglu, Celal Umut</creatorcontrib><creatorcontrib>Patoglu, Volkan</creatorcontrib><title>Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering</title><title>IEEE transactions on haptics</title><addtitle>TOH</addtitle><addtitle>IEEE Trans Haptics</addtitle><description>Series elastic actuation (SEA) is an interaction control paradigm that relies on a compliant force sensing element and utilizes the model of this compliant dynamics in closed-loop force control. We present sufficient conditions for passivity of SEA under model reference force control (MRFC) during null impedance rendering. We prove that overestimation of robot inertia and underestimation of the stiffness of the series elastic element can ensure coupled stability of interaction for SEA under MRFC during null impedance rendering, as long as a lower limit on damping compensation is not violated. We experimentally verify the passivity bounds and demonstrate the null impedance rendering performance of MRFC.</description><subject>Actuation</subject><subject>Actuators</subject><subject>Damping</subject><subject>Dynamics</subject><subject>Electric Impedance</subject><subject>Force</subject><subject>Force control</subject><subject>frequency domain passivity</subject><subject>Humans</subject><subject>Impedance</subject><subject>interaction control</subject><subject>Model reference</subject><subject>model reference force control</subject><subject>Modulus of elasticity</subject><subject>Passivity</subject><subject>Rendering</subject><subject>Rendering (computer graphics)</subject><subject>Robotics</subject><subject>Series elastic actuation</subject><subject>Stiffness</subject><subject>Sufficient conditions</subject><issn>1939-1412</issn><issn>2329-4051</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><sourceid>EIF</sourceid><recordid>eNpdkU1LxDAQhoMoun7cBUECXrx0nUnS1hxlXXVh_cCPc2nTqUS6zZq0gv_eLLt68JIc5nmHl3kYO0YYI4K-eH28GwsQOJaoAJXcYiMhhU4UpLjNRqilTlCh2GP7IXwAZCLXapftSaUvRabViNmnMgT7Zftv7hr-Qt5S4NO2DL01_Mr0Q9lb1_G3ribP711NLX-mhjx1hviN8_GduK73ruXXg7fdO38Y2pbPFkuqyxXzTKtoHByynaZsAx1t_gP2djN9ndwl88fb2eRqnhip8j5RjQZpROwnZd2QUGRUjSpXIqsqkZcmFs8lYgpUCcjRUN5oQ5pSKRqqQB6w8_XepXefA4W-WNhgqG3LjtwQCpFhptNUQR7Rs3_ohxt8F9tFSoGSAkFECtaU8S4ET02x9HZR-u8CoVhpKKKGYqWh2GiIkdPN4qFaUP0X-L17BE7WgCWiv7HOMg1R2g8yIYqk</recordid><startdate>202201</startdate><enddate>202201</enddate><creator>Kenanoglu, Celal Umut</creator><creator>Patoglu, Volkan</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>CGR</scope><scope>CUY</scope><scope>CVF</scope><scope>ECM</scope><scope>EIF</scope><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0002-6556-7054</orcidid><orcidid>https://orcid.org/0000-0001-6644-3937</orcidid></search><sort><creationdate>202201</creationdate><title>Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering</title><author>Kenanoglu, Celal Umut ; Patoglu, Volkan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c347t-4f903c298233dfe24ec4d147426bb27ac826731150eb2071ce7f9ce9e532feb03</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Actuation</topic><topic>Actuators</topic><topic>Damping</topic><topic>Dynamics</topic><topic>Electric Impedance</topic><topic>Force</topic><topic>Force control</topic><topic>frequency domain passivity</topic><topic>Humans</topic><topic>Impedance</topic><topic>interaction control</topic><topic>Model reference</topic><topic>model reference force control</topic><topic>Modulus of elasticity</topic><topic>Passivity</topic><topic>Rendering</topic><topic>Rendering (computer graphics)</topic><topic>Robotics</topic><topic>Series elastic actuation</topic><topic>Stiffness</topic><topic>Sufficient conditions</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Kenanoglu, Celal Umut</creatorcontrib><creatorcontrib>Patoglu, Volkan</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>IEEE transactions on haptics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kenanoglu, Celal Umut</au><au>Patoglu, Volkan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering</atitle><jtitle>IEEE transactions on haptics</jtitle><stitle>TOH</stitle><addtitle>IEEE Trans Haptics</addtitle><date>2022-01</date><risdate>2022</risdate><volume>15</volume><issue>1</issue><spage>51</spage><epage>56</epage><pages>51-56</pages><issn>1939-1412</issn><eissn>2329-4051</eissn><coden>ITHEBX</coden><abstract>Series elastic actuation (SEA) is an interaction control paradigm that relies on a compliant force sensing element and utilizes the model of this compliant dynamics in closed-loop force control. We present sufficient conditions for passivity of SEA under model reference force control (MRFC) during null impedance rendering. We prove that overestimation of robot inertia and underestimation of the stiffness of the series elastic element can ensure coupled stability of interaction for SEA under MRFC during null impedance rendering, as long as a lower limit on damping compensation is not violated. We experimentally verify the passivity bounds and demonstrate the null impedance rendering performance of MRFC.</abstract><cop>United States</cop><pub>IEEE</pub><pmid>34982694</pmid><doi>10.1109/TOH.2021.3140143</doi><tpages>6</tpages><orcidid>https://orcid.org/0000-0002-6556-7054</orcidid><orcidid>https://orcid.org/0000-0001-6644-3937</orcidid></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1939-1412 |
| ispartof | IEEE transactions on haptics, 2022-01, Vol.15 (1), p.51-56 |
| issn | 1939-1412 2329-4051 |
| language | eng |
| recordid | cdi_proquest_journals_2640432102 |
| source | IEEE Electronic Library (IEL) |
| subjects | Actuation Actuators Damping Dynamics Electric Impedance Force Force control frequency domain passivity Humans Impedance interaction control Model reference model reference force control Modulus of elasticity Passivity Rendering Rendering (computer graphics) Robotics Series elastic actuation Stiffness Sufficient conditions |
| title | Passivity of Series Elastic Actuation Under Model Reference Force Control During Null Impedance Rendering |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-09T08%3A51%3A06IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Passivity%20of%20Series%20Elastic%20Actuation%20Under%20Model%20Reference%20Force%20Control%20During%20Null%20Impedance%20Rendering&rft.jtitle=IEEE%20transactions%20on%20haptics&rft.au=Kenanoglu,%20Celal%20Umut&rft.date=2022-01&rft.volume=15&rft.issue=1&rft.spage=51&rft.epage=56&rft.pages=51-56&rft.issn=1939-1412&rft.eissn=2329-4051&rft.coden=ITHEBX&rft_id=info:doi/10.1109/TOH.2021.3140143&rft_dat=%3Cproquest_RIE%3E2640432102%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2640432102&rft_id=info:pmid/34982694&rft_ieee_id=9669019&rfr_iscdi=true |