While compliance control scheme is done for the wearable robot combined with the linear actuator and sensor on it as intended by the user, oscillations occur due to the joint kinematical mechanism. In this paper, the cause of oscillation on the knee joint is analyzed in detail. Also, it is shown that the moment arm is varied with joint angle, it is confirmed that sensed pressure is changed by the variation. In addition, for canceling the oscillation, torque sensor - using the method to move its force/pressure sensor position from the cylinder to the joint, and a wire-pulley system that adjusts the moment arm with mechanical impedance compensation are proposed. Finally, simulations and experiments are done for demonstrating oscillation reduction by using the DSME wearable robot.
Write a Technical Documentation on "Study & Performance of Wearable Robot Knee Joint Oscillation Reduction"
Your final document should have approximately 3000 Words. Include the relevant pictures while preparing it.
Your document should be prepared based on below mentioned format.
- Introduction
- Literature review
- Wearable Robot Set-up
- Theory
- System of DSME hydraulic wearable robot & its driving method
- Kinematic analysis of the knee joint
- Actuating Problem
- Suggestions for solving actuating problem
- Case Study
- Conclusion
- References