Active Loading Control Design for a Wearable Exoskeleton with a Bowden Cable for Transmission
Abstract
:1. Introduction
2. Mathematical Modeling of the System
3. Controller Design
3.1. Design of the Inner-Loop Controller
3.2. Design of the Oute-Loop Controller
4. Results
4.1. Test Setup
4.2. Friction Verification of the Bowden Cable
4.3. PID Control in Both the Inner and Outer Loop
4.4. The FFPD in the Outer Loop
4.5. The FFPD in the Outer Loop and the DOB in the Inner Loop
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
Abbreviations
FFPD | Feedforward-feedback PD controller |
DOB | Disturbance observer |
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Wang, Z.; Rho, S.; Yang, C.; Jiang, F.; Ding, Z.; Yi, C.; Wei, B. Active Loading Control Design for a Wearable Exoskeleton with a Bowden Cable for Transmission. Actuators 2021, 10, 108. https://doi.org/10.3390/act10060108
Wang Z, Rho S, Yang C, Jiang F, Ding Z, Yi C, Wei B. Active Loading Control Design for a Wearable Exoskeleton with a Bowden Cable for Transmission. Actuators. 2021; 10(6):108. https://doi.org/10.3390/act10060108
Chicago/Turabian StyleWang, Zhipeng, Seungmin Rho, Chifu Yang, Feng Jiang, Zhen Ding, Chunzhi Yi, and Baichun Wei. 2021. "Active Loading Control Design for a Wearable Exoskeleton with a Bowden Cable for Transmission" Actuators 10, no. 6: 108. https://doi.org/10.3390/act10060108