Show simple item record

dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorForni, P.
dc.contributor.authorDoppmann, C.
dc.contributor.authorMorimoto, J.
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.relation.ispartofIntelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
dc.titleTorque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controlleren_US
dc.typeConference paperen_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.subject.keywordsControl nonlinearities
dc.subject.keywordsElastic constants
dc.subject.keywordsForce control
dc.subject.keywordsForce feedback
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff

Files in this item


There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record

Share this page