Abstract
We present the design of a one-degree-of-freedom ankle actuation platform for human-robot interaction. The platform is actuated with a DC motor through a capstan drive mechanism. The results for platform dynamics identification including friction characterisation are presented. Control experiments demonstrate that a linear regulator with gravity compensation can be used to control the inclination of the platform efficiently.
Author supplied keywords
Cite
CITATION STYLE
Otaran, A., & Farkhatdinov, I. (2019). Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 11649 LNAI, pp. 338–348). Springer Verlag. https://doi.org/10.1007/978-3-030-23807-0_28
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
