Automatic load regulation using B-spline interpolation

Chowarit Mitsantisuk, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, a training system that has the ability of support of human force was developed. The ability to apply programmable force in training system is important to medical application. The design of smooth curves with arbitrary shapes is useful in many application areas. The B-spline functions have become one of the most extensively used methods for the definition and representation of free from curves. The automatic load regulation based on B-spline functions was proposed and implemented to a training system. Dual disturbance observers are applied to the reactive force control. A robust control system is obtained by applying the disturbance observer loop in order to cancel any disturbance torque on the motor side. In addition, an acceleration control system attains robust reactive force control. By using step-wise disturbance observer, which considers the structure of ball screw mechanism, it is possible to obtain human force sensing with wide bandwidth. A validation experiment has been performed on a training system. From the experimental results, it generates a good realization of interaction force between human and a training system.

Original languageEnglish
Title of host publicationProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
Publication statusPublished - 2007
Externally publishedYes
Event4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
Duration: 2007 May 82007 May 10

Publication series

NameProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007


Other4th IEEE International Conference on Mechatronics, ICM 2007


  • Automatic load regulation
  • B-spline
  • Reaction torque estimation
  • State and disturbance observer
  • Two-inertia model

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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