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dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorForni, P.
dc.contributor.authorDoppmann, C.
dc.contributor.authorMorimoto, J.
dc.date.accessioned2016-02-17T11:05:45Z
dc.date.available2016-02-17T11:05:45Z
dc.date.issued2015
dc.identifier.isbn978-1-4799-9994-1
dc.identifier.urihttp://hdl.handle.net/10679/2877
dc.identifier.urihttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7353586
dc.descriptionDue to copyright restrictions, the access to the full text of this article is only available via subscription.
dc.description.abstractThis paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, two contributions are presented: i) A stable force feedback controller that can cope with inherent PAM nonlinearities is synthesized using the dissipativity theory, for each PAM unit. ii) On top of this force feedback controller, a mathematical formulation is developed to compute reference force inputs that correspond to desired joint torque and joint stiffness inputs, concerning both agonist and antagonist PAMs. This strategy enables us to introduce real-time sensory feedback; torque and stiffness control is addressed by means of PAM force feedback control with guaranteed stability. To validate the proposed control scheme, a series of experiments were conducted on an experimental setup. As the result, the controller exhibited favorable torque and stiffness tracking in real-time, demonstrating that it could meet the performance criteria to power exoskeleton systems.
dc.description.sponsorshipMext Kakenhi ; SRPBS from Mext/Amed, ImPACT Program of Council for Science, Technology and Innovation ; Development of Medical Devices and Systems for Advanced Medical Services
dc.language.isoengen_US
dc.publisherIEEE
dc.relation.ispartofIntelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
dc.rightsrestrictedAccess
dc.titleTorque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controlleren_US
dc.typeConference paperen_US
dc.peerreviewedyes
dc.publicationstatuspublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID241209
dc.contributor.authorID0000-0002-9124-7441
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.startpage1633
dc.identifier.endpage1639
dc.identifier.wosWOS:000371885401117
dc.identifier.doi10.1109/IROS.2015.7353586
dc.subject.keywordsControl nonlinearities
dc.subject.keywordsElastic constants
dc.subject.keywordsForce control
dc.subject.keywordsForce feedback
dc.identifier.scopusSCOPUS:2-s2.0-84958153143


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