TY - JOUR
T1 - Residual-Based External Torque Estimation in Series Elastic Actuators over a Wide Stiffness Range
T2 - Frequency Domain Approach
AU - Lee, Jinoh
AU - Lee, Chan
AU - Tsagarakis, Nikolaos
AU - Oh, Sehoon
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2018/7
Y1 - 2018/7
N2 - This letter presents an enhanced external torque estimation algorithm for series elastic actuators (SEAs) expanding the usability of the residual-based technique. Although the residual method demonstrates online torque estimation capability in diverse applications and thus becomes popular, it is practically challenging to achieve accurate estimation performance in a wide stiffness range of SEAs. The performance degradation is mainly induced by inaccurate transmission torque information, which is stemmed from unexpected errors in the spring deflection based torque sensing. To overcome the issue, this letter analyses the limitation of the conventional approach in frequency domain and proposes the enhanced residual to be used over a wide stiffness range of SEAs. The performance of proposed method is comparatively verified with conventional method in the both of simulations and experiments.
AB - This letter presents an enhanced external torque estimation algorithm for series elastic actuators (SEAs) expanding the usability of the residual-based technique. Although the residual method demonstrates online torque estimation capability in diverse applications and thus becomes popular, it is practically challenging to achieve accurate estimation performance in a wide stiffness range of SEAs. The performance degradation is mainly induced by inaccurate transmission torque information, which is stemmed from unexpected errors in the spring deflection based torque sensing. To overcome the issue, this letter analyses the limitation of the conventional approach in frequency domain and proposes the enhanced residual to be used over a wide stiffness range of SEAs. The performance of proposed method is comparatively verified with conventional method in the both of simulations and experiments.
KW - Compliant joint/mechanism
KW - flexible robots
KW - physical human-robot interaction
UR - http://www.scopus.com/inward/record.url?scp=85052369069&partnerID=8YFLogxK
U2 - 10.1109/LRA.2018.2800128
DO - 10.1109/LRA.2018.2800128
M3 - Article
AN - SCOPUS:85052369069
SN - 2377-3766
VL - 3
SP - 1442
EP - 1449
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
ER -