TY - GEN
T1 - Automatic load regulation using B-spline interpolation
AU - Mitsantisuk, Chowarit
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Automatic load regulation
KW - B-spline
KW - Reaction torque estimation
KW - State and disturbance observer
KW - Two-inertia model
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U2 - 10.1109/ICMECH.2007.4280064
DO - 10.1109/ICMECH.2007.4280064
M3 - Conference contribution
AN - SCOPUS:50649092896
SN - 142441184X
SN - 9781424411849
T3 - Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
BT - Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
T2 - 4th IEEE International Conference on Mechatronics, ICM 2007
Y2 - 8 May 2007 through 10 May 2007
ER -