Variable stiffness control for SEAs in rehabilitation training

Full article: Variable stiffness control for SEAs in rehabilitation training

The control method consists of two parts: one is series impedance controller using to ensure port stiffness, and the other is stiffness ...

First, an SEA joint is analyzed and the limit factor of the impedance frequency is discussed. Subsequently, cascade impedance controller scheme ...

Variable stiffness control for SEAs in rehabilitation training | Request ...

Request PDF | Variable stiffness control for SEAs in rehabilitation training | Series Elastic Actuator (SEA) with both security and high performance is used ...

Variable stiffness control for SEAs in rehabilitation training — Beijing ...

Human joints applied for motion therapy show variable stiffness properties during the process of rehabilitation training. When using robot to do motion therapy, ...

Stiffness Adjustment for a Single-Link Robot Arm Driven by Series ...

In this study, a novel real-time parallel variable-stiffness control method is proposed. ... stiffness of the SEA as needed to improve strength ...

Structural design and stiffness matching control of bionic variable ...

Typical applications for passive compliance are series elastic actuators (SEAs). Laffanchi et al. [5] developed a compact rotary SEA using a circumferential ...

Supplementary Data - Ingenta Connect

Supplementary Data. Variable stiffness control for SEAs in rehabilitation training. Authors: Li, Siqi; Li, Jian; Tian, Guihua; Shang, Hongcai. Source: Advanced ...

Anti-Disturbance Sliding Mode Control of a Novel Variable Stiffness ...

Lower limb exoskeletons are widely used for rehabilitation training of patients suffering from neurological disorders.

Design, modeling and optimal control of a novel compliant actuator

The various series elastic actuators (SEAs) have been widely used in the field of rehabilitation, and various specific SEA to meet the rehabilitation needs of ...

A novel stiffness control method for series elastic actuator

Keywords: Series Elastic Actuator, SEA, stiffness control ... stiffness adjustment variable ... series elastic actuated joint for robotic gait rehabilitation ...

Flexure Variable Stiffness Actuators - Giraud - Wiley Online Library

Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control.

Data-Driven Position and Stiffness Control of Antagonistic Variable ...

In this paper, an optimal PID controller is introduced for an antagonistic variable stiffness actuator (AVSA) based on Hammerstein models.

Stiffness Adjustment for a Single-Link Robot Arm Driven by Series ...

Series elastic actuators (SEAs) can improve the performance of robots and ensure their safety; therefore, they are widely applied in rehabilitation robots.

Low stiffness design and hysteresis compensation torque control of ...

Unlike the SEAs developed for existing rehabilitation robots, we address the SEA for active exercise robots. In active exercise, the load control ability of the ...

Anti-Disturbance Sliding Mode Control of a Novel Variable Stiffness ...

However, the adaptability and control performance are limited by the constant spring stiffness used in current SEAs. In this study, a novel load ...

A position and stiffness control strategy for variable stiffness actuators

A wide variety of design solutions have recently been proposed, and a common factor in most of the VSAs is the introduction of a flexible transmission with ...

Stiffness Adjustment for a Single-Link Robot Arm Driven by Series ...

the SEA as needed to improve strength training ... as a simple variable stiffness rehabilitation rotary han- ... impedance control with variable stiffness,'' in ...

Development of a powered variable-stiffness exoskeleton device for ...

30 References · Mechanical Design and Control Method for SEA and VSA-based Exoskeleton Devices for Elbow Joint Rehabilitation · NEUROExos: A Powered Elbow ...

Stiffness Adjustment for a Single-Link Robot Arm Driven by Series ...

... training. Finally, the experimental results indicate that the stiffness control method based on muscle ... In this study, a novel real-time parallel variable- ...

Preliminary Evaluation of a Performance-based Stiffness Control for ...

The output stiffness would be adjusted independently via variable stiffness actuator during the rehabilitation training processing. In addition, ...