Dynamics of digital force control applied in rehabilitation robotics

László L. Kovács, G. Stépán

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

Controlled structures are often required to keep desired contact forces between some of its elements. A classical example is the controlled interaction of a robot with its environment when the control of the contact force between the robotic actuator and the workpiece is prescribed. Experiments often call the attention to the destabilising digital effects, like sampling, in these systems. In this paper the stability of a newly developed force based teaching-in method is analysed. The method is applied in rehabilitation robotics. The stability limits are presented in the parameter space of the sampling time, control gains and mechanical parameters of the robot. The least force error and the fastest settling force signal are calculated. The influence of the elasticity of the force sensor is analysed as well as the possible bifurcations. Real parameter case study confirms the analytical predictions.

Original languageEnglish
Pages (from-to)213-226
Number of pages14
JournalMeccanica
Volume38
Issue number2
DOIs
Publication statusPublished - 2003

Fingerprint

Force control
robotics
Patient rehabilitation
Robotics
Robots
Sampling
Gain control
Elasticity
Teaching
Actuators
robots
Sensors
sampling
Experiments
settling
education
elastic properties
actuators
sensors
predictions

Keywords

  • Biomechanics
  • Discrete dynamics
  • Force control
  • Rehabilitation robotics
  • Sampling effect

ASJC Scopus subject areas

  • Mechanics of Materials
  • Computational Mechanics

Cite this

Dynamics of digital force control applied in rehabilitation robotics. / Kovács, László L.; Stépán, G.

In: Meccanica, Vol. 38, No. 2, 2003, p. 213-226.

Research output: Contribution to journalArticle

Kovács, László L. ; Stépán, G. / Dynamics of digital force control applied in rehabilitation robotics. In: Meccanica. 2003 ; Vol. 38, No. 2. pp. 213-226.
@article{c0f84c2cc7424f028a20b68fb1ba2a44,
title = "Dynamics of digital force control applied in rehabilitation robotics",
abstract = "Controlled structures are often required to keep desired contact forces between some of its elements. A classical example is the controlled interaction of a robot with its environment when the control of the contact force between the robotic actuator and the workpiece is prescribed. Experiments often call the attention to the destabilising digital effects, like sampling, in these systems. In this paper the stability of a newly developed force based teaching-in method is analysed. The method is applied in rehabilitation robotics. The stability limits are presented in the parameter space of the sampling time, control gains and mechanical parameters of the robot. The least force error and the fastest settling force signal are calculated. The influence of the elasticity of the force sensor is analysed as well as the possible bifurcations. Real parameter case study confirms the analytical predictions.",
keywords = "Biomechanics, Discrete dynamics, Force control, Rehabilitation robotics, Sampling effect",
author = "Kov{\'a}cs, {L{\'a}szl{\'o} L.} and G. St{\'e}p{\'a}n",
year = "2003",
doi = "10.1023/A:1022846419289",
language = "English",
volume = "38",
pages = "213--226",
journal = "Meccanica",
issn = "0025-6455",
publisher = "Springer Netherlands",
number = "2",

}

TY - JOUR

T1 - Dynamics of digital force control applied in rehabilitation robotics

AU - Kovács, László L.

AU - Stépán, G.

PY - 2003

Y1 - 2003

N2 - Controlled structures are often required to keep desired contact forces between some of its elements. A classical example is the controlled interaction of a robot with its environment when the control of the contact force between the robotic actuator and the workpiece is prescribed. Experiments often call the attention to the destabilising digital effects, like sampling, in these systems. In this paper the stability of a newly developed force based teaching-in method is analysed. The method is applied in rehabilitation robotics. The stability limits are presented in the parameter space of the sampling time, control gains and mechanical parameters of the robot. The least force error and the fastest settling force signal are calculated. The influence of the elasticity of the force sensor is analysed as well as the possible bifurcations. Real parameter case study confirms the analytical predictions.

AB - Controlled structures are often required to keep desired contact forces between some of its elements. A classical example is the controlled interaction of a robot with its environment when the control of the contact force between the robotic actuator and the workpiece is prescribed. Experiments often call the attention to the destabilising digital effects, like sampling, in these systems. In this paper the stability of a newly developed force based teaching-in method is analysed. The method is applied in rehabilitation robotics. The stability limits are presented in the parameter space of the sampling time, control gains and mechanical parameters of the robot. The least force error and the fastest settling force signal are calculated. The influence of the elasticity of the force sensor is analysed as well as the possible bifurcations. Real parameter case study confirms the analytical predictions.

KW - Biomechanics

KW - Discrete dynamics

KW - Force control

KW - Rehabilitation robotics

KW - Sampling effect

UR - http://www.scopus.com/inward/record.url?scp=0037252620&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0037252620&partnerID=8YFLogxK

U2 - 10.1023/A:1022846419289

DO - 10.1023/A:1022846419289

M3 - Article

AN - SCOPUS:0037252620

VL - 38

SP - 213

EP - 226

JO - Meccanica

JF - Meccanica

SN - 0025-6455

IS - 2

ER -