지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 1,082 - 1,086 (5page)
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초록· 키워드
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This paper proposes a new control scheme for the cycle ergometer, sensorlsss admittance control. The Proposed control algorithm consists of admittance controller, exercise intensity and speed adjustment controller, and interaction torque estimator which can decrease the cost of the cycle ergometer while providing the advantages of impedance control. With impedance control, the device can provide various dynamic responses by tuning impedance to various rehabilitation exercise scenarios. The admittance controller is adopted instead of the impedance controller for stability. The disturbance observer is established with a friction model and dynamic model of the device to estimate the interaction torque without torque sensor. Some experiments are conducted to verify the performance of the interaction torque estimator and to verify the performance of the sensorless admittance controller. The results show that the torque was well estimated for the different ratio of impedance with the passive operation mode and the auto operation mode.
목차
Abstract
1. INTRODUCTION
2. METHOD
4. EXPERIMENTS
5. CONCLUSION
REFERENCES
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