제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제21권5호
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  • Pages.407-412
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  • 2015
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
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BLDC 모터 기반 동력 의족의 구성과 토크 추정을 활용한 유각기의 임피던스 제어

The Structure of a Powered Knee Prosthesis based on a BLDC Motor and Impedance Control using Torque Estimation on Free Swing

  • 투고 : 2015.02.15
  • 심사 : 2015.03.15
  • 발행 : 2015.05.01
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초록

This paper presents the design of a lab-built powered knee prosthesis based on a BLDC motor, a sensored impedance control using a force sensor, and a sensorless impedance control through torque estimation. Firstly, we describe the structure of the lab-built powered knee prosthesis and its limitations. Secondly, we decompose the gait cycle into five stages and apply the position-based impedance control for the powered knee prosthesis. Thirdly, we perform an experiment for the torque estimation and the sensorless impedance control of the prosthesis. The experimental results show that we can use the torque estimation to control the low impedance during the swing phase, although the estimated torque data has a delay compared with the measured torque by a load cell.

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참고문헌

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