1P1-E12 System Identification of an Exoskeletal Robot Including User's Body
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概要
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Exoskeletal robots are attracting great attention in the field of robotics with various human-interactive applications. In the control of such exoskeletal robots, model based controllers are often implemented to determine its desired torque commands. For this purpose, an accurate dynamic model of the device including the user's body is required. In real applications, however, the model parameters such as mass and center of mass of each segment are not exactly known since the human body is involved. In this paper, the dynamic model of an exoskeletal robot SUBAR (Sogang University Biomedical Assistive Robot) including the user's swing limb is assumed as simple planar links and the model parameters are obtained by the parameter identification method. Furthermore, for the simple and accurate identification, the dynamics of hip and knee joint motions are decoupled by fixing joint angles in the experiments. The presented identification method is verified by experiments.
- 一般社団法人日本機械学会の論文
- 2009-05-25