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dc.contributor.authorDoppmann, C.
dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorHamaya, M.
dc.contributor.authorTeramae, T.
dc.contributor.authorNoda, T.
dc.contributor.authorMorimoto, J.
dc.date.accessioned2016-02-17T11:05:46Z
dc.date.available2016-02-17T11:05:46Z
dc.date.issued2015
dc.identifier.isbn978-1-4799-6923-4
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/10679/2878
dc.identifier.urihttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7139975
dc.descriptionDue to copyright restrictions, the access to the full text of this article is only available via subscription.
dc.description.abstractThis paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional spring-loaded flywheel model is presented to encapsulate both approximated angular momentum and variable physical stiffness, which are crucial parameters in describing the postural balance. In particular, the incorporation of physical compliance enables us to provide three main contributions: i) A mathematical formulation is developed to express the relation between the dynamic balance criterion ZMP and the physical ankle joint stiffness. Therefore, balancing control can be interpreted in terms of ankle joint stiffness regulation. ii) `Variable physical' stiffness is utilized in the bipedal robot balance control task for the first time in the literature, to the authors' knowledge. iii) The variable physical stiffness strategy is compared with the optimal constant stiffness strategy by conducting experiments on our exoskeleton robot. The results indicate that the proposed method provides a favorable balancing control performance to cope with unperceived perturbations, in terms of center of mass position regulation, ZMP error and mechanical power.
dc.description.sponsorshipMext Kakenhi ; ImPACT Program of Council for Science, Technology and Innovation
dc.language.isoengen_US
dc.publisherIEEE
dc.relation.ispartof2015 IEEE International Conference on Robotics and Automation (ICRA)
dc.rightsrestrictedAccess
dc.titleTowards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel modelen_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.startpage5551
dc.identifier.endpage5556
dc.identifier.wosWOS:000370974905072
dc.identifier.doi10.1109/ICRA.2015.7139975
dc.identifier.scopusSCOPUS:2-s2.0-84938240392


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