Servo and Force Control with Improved Robustness and Accuracy for An Active Body Weight Support System

被引：0

作者：

Zhang, Peng ^{[1
,2
]}

Zou, Wulin ^{[3
]}

Chen, Yawen ^{[4
]}

Yu, Ningbo ^{[1
,2
]}

机构：

[1] Nankai Univ, Inst Robot & Automat Informat Syst, Haihe Educ Pk, Tianjin 300350, Peoples R China

[2] Nankai Univ, Tianjin Key Lab Intelligent Robot, Haihe Educ Pk, Tianjin 300350, Peoples R China

[3] Xeno Dynam Co Ltd, Shenzhen 518000, Guangdong, Peoples R China

[4] Hong Kong Univ Sci & Technol, Dept Elect & Comp Engn, Kowloon, Clear Water Bay, Hong Kong, Peoples R China

来源：

2019 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2019年

基金：

中国国家自然科学基金;

关键词：

VELOCITY;

D O I：

10.1109/aim.2019.8868803

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Active body weight support (ABWS) is of great importance for lower limb rehabilitation. We have built up an ABWS system to simultaneously follow the patient's horizontal movement and provide the designed vertical body weight support force to the patient. However, the patient's movement is highly dynamic and there exist disturbance and other uncertainties in the system, making it challenging for the position servo and force control. Two improved control strategies are respectively proposed, using disturbance observer (DOB) along with one-step prediction and dynamics compensation, to achieve accurate and robust horizontal position servo as well as vertical force control of the ABWS system. Experiments were conducted to verify the efficacy of the proposed methods, and the results were significantly improved in comparison with PID control.

引用

页码：601 / 605

页数：5