Impedance Control of a Rotary Series Elastic Actuator for Knee Rehabilitation
作者： Wilian M. dos Santos , Adriano A.G. Siqueira
DOI: 10.3182/20140824-6-ZA-1003.00987
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摘要: Abstract This paper deals with impedance control of a rotary Series Elastic Actuator designed to assist in flexion/extension the knee joint during physical therapy. The device includes DC motor, worm gear and customized torsion spring. Since elastic element is most important component actuator design, finite analysis used meet specific requirements assistance. proposed scheme comprises three cascade controllers: an inner-loop PI velocity controller, torque outer-loop PD position controller. controller's performance evaluated through Frequency Response Function analysis, experimental results demonstrate ability system reproduce behavior within amplitude frequency range compatible for gait
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