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• W3130132180 endingPage "932" @default.
• W3130132180 startingPage "919" @default.
• W3130132180 abstract "Series elastic actuator (SEA) is a promising compliance device due to its lower output mechanical impedance, and it is widely applied to ensure safe human–robot interaction. Although some efforts have been made to achieve accurate stiffness tracking, the time-delay issue in SEA control has still not been well investigated. However, the time delay can cause an inaccurate response and increase the risk of injury. To overcome this problem, this article proposes a fast-response admittance control method for SEAs. First, an admittance control scheme considering the external force estimation is developed for a hydraulic SEA. Then, a parallel adaptive time-series (ATS) (P-ATS) compensator is proposed and further adopted in the admittance control scheme to compensate for the time delay and tracking error. The P-ATS compensator is a modification of the ATS compensator, which is enhanced with a unique parallel mechanism. Such a mechanism can save more computational resources on locating better parameters the for P-ATS compensator, thus improving its performance. Moreover, the parameter setting is converted to an optimization task, which is solved by the whale swarm algorithm (WSA) to achieve higher accuracy. The newly located parameters are compared to the current parameters based on a proposed evaluation criterion, thus guaranteeing the quality of the updated parameters. All the above strategies are employed to improve the SEA admittance control performance. The results obtained from both simulation and real-world experiments validate that, compared to conventional methods, the proposed method achieves a better performance in SEA stiffness tracking with lower time delay and tracking error. <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>Note to Practitioners</i> —Accurate stiffness tracking of SEAs can achieve safe human–robot interaction. However, the time delays introduced by the imprecise movement and estimation of external force can lead to inaccurate actuator response that may limit the capacity of safety insurance. To overcome this issue, a fast-response admittance control method is proposed for SEAs by adopting a novel P-ATS compensator. Thus, the time delays and errors from both load movement and external force estimation can be adaptively compensated. Several strategies have been adopted to enhance the compensator for parameter determination to achieve better performance. The proposed method requires no additional previous information about the system except load mass and spring stiffness, which makes it easy to implement for different types of SEAs. Experimental results show that the proposed method can achieve faster and more accurate stiffness tracking under different conditions. Future work aims to address the control problem under random disturbances and apply the proposed method to human–robot collaboration tasks to further test its performance." @default.
• W3130132180 created "2021-03-01" @default.
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• W3130132180 date "2022-04-01" @default.
• W3130132180 modified "2023-10-16" @default.
• W3130132180 title "Toward Safe Human–Robot Interaction: A Fast- Response Admittance Control Method for Series Elastic Actuator" @default.
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• W3130132180 doi "https://doi.org/10.1109/tase.2021.3057883" @default.
• W3130132180 hasPublicationYear "2022" @default.
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