Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range
Control design of power-assist systems has been widely applied to human-robot interactive systems such as wearable exoskeleton systems, of which the range of motion limitation of human joints in the power-assist systems is essential. This paper presents a virtual soft boundary design for a human-rob...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-02-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/5/690 |
| _version_ | 1797475360854507520 |
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| author | Po-Wen Hsueh Wu-Sung Yao Tien-Min Kao |
| author_facet | Po-Wen Hsueh Wu-Sung Yao Tien-Min Kao |
| author_sort | Po-Wen Hsueh |
| collection | DOAJ |
| description | Control design of power-assist systems has been widely applied to human-robot interactive systems such as wearable exoskeleton systems, of which the range of motion limitation of human joints in the power-assist systems is essential. This paper presents a virtual soft boundary design for a human-robot cooperation system with a limited operating range. The proposed virtual soft boundary is realized by impedance control and integrated into the power-assist robot arm system; meanwhile, power-assist robot arm systems are typical human-in-the-loop systems, and the control of the power-assist system in performing in accordance with a human’s perception is a significant issue. Therefore, a model-based disturbance observer with a pseudo-derivative feedback feedforward (PDFF) compensator is designed to effectively estimate the human’s torque for an appropriate motor torque command. Experimental results show that the proposed control method can estimate the human torque exerted on the robot arm system to achieve a power-assist system, and the virtual soft boundary can be realized by the impedance control and integrated into the power-assist robot arm system. |
| first_indexed | 2024-03-09T20:44:06Z |
| format | Article |
| id | doaj.art-bd8813e517224b1887a004a86f29f6c0 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T20:44:06Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-bd8813e517224b1887a004a86f29f6c02023-11-23T22:52:33ZengMDPI AGElectronics2079-92922022-02-0111569010.3390/electronics11050690Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating RangePo-Wen Hsueh0Wu-Sung Yao1Tien-Min Kao2Department of Mechatronics Engineering, National Kaohsiung University of Science and Technology, No.1 University Rd., Yanchao District, Kaohsiung City 824, TaiwanDepartment of Mechatronics Engineering, National Kaohsiung University of Science and Technology, No.1 University Rd., Yanchao District, Kaohsiung City 824, TaiwanDepartment of Mechatronics Engineering, National Kaohsiung University of Science and Technology, No.1 University Rd., Yanchao District, Kaohsiung City 824, TaiwanControl design of power-assist systems has been widely applied to human-robot interactive systems such as wearable exoskeleton systems, of which the range of motion limitation of human joints in the power-assist systems is essential. This paper presents a virtual soft boundary design for a human-robot cooperation system with a limited operating range. The proposed virtual soft boundary is realized by impedance control and integrated into the power-assist robot arm system; meanwhile, power-assist robot arm systems are typical human-in-the-loop systems, and the control of the power-assist system in performing in accordance with a human’s perception is a significant issue. Therefore, a model-based disturbance observer with a pseudo-derivative feedback feedforward (PDFF) compensator is designed to effectively estimate the human’s torque for an appropriate motor torque command. Experimental results show that the proposed control method can estimate the human torque exerted on the robot arm system to achieve a power-assist system, and the virtual soft boundary can be realized by the impedance control and integrated into the power-assist robot arm system.https://www.mdpi.com/2079-9292/11/5/690disturbance estimationPDFF controllerpower-assist systemvirtual soft boundaryimpedance control |
| spellingShingle | Po-Wen Hsueh Wu-Sung Yao Tien-Min Kao Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range Electronics disturbance estimation PDFF controller power-assist system virtual soft boundary impedance control |
| title | Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range |
| title_full | Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range |
| title_fullStr | Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range |
| title_full_unstemmed | Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range |
| title_short | Control Design of Observer-Based Virtual Soft Boundary for a Power-Assist System with Limited Operating Range |
| title_sort | control design of observer based virtual soft boundary for a power assist system with limited operating range |
| topic | disturbance estimation PDFF controller power-assist system virtual soft boundary impedance control |
| url | https://www.mdpi.com/2079-9292/11/5/690 |
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