Exoskeleton transparency: feed-forward compensation vs. disturbance observer

Just, Fabian; Özen, Özhan; Bösch, Philipp; Bobrovsky, Hanna; Klamroth-Marganska, Verena; Riener, Robert; Rauter, Georg (2018). Exoskeleton transparency: feed-forward compensation vs. disturbance observer. Automatisierungstechnik : AT, 66(12), pp. 1014-1026. De Gruyter 10.1515/auto-2018-0069

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Undesired forces during human-robot interaction limit training effectiveness with rehabilitation robots. Thus, avoiding such undesired forces by improved mechanics, sensorics, kinematics, and controllers are the way to increase exoskeleton transparency. In this paper, the arm therapy exoskeleton ARMin IV+ was used to compare the differences in transparency offered by using the previous feed-forward model-based controller, with a disturbance observer in a study. Systematic analysis of velocity-dependent effects of controller transparency in single- and multi-joint scenarios performed in this study highlight the advantage of using disturbance observers for obtaining consistent transparency behavior at different velocities in single-joint and multi-joint movements. As the main result, the concept of the disturbance observer sets a new benchmark for ARMin transparency.

Item Type:

Journal Article (Original Article)

Division/Institute:

10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Motor Learning and Neurorehabilitation
10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Gerontechnology and Rehabilitation

UniBE Contributor:

Özen, Özhan and Riener, Robert

Subjects:

600 Technology > 610 Medicine & health
600 Technology > 620 Engineering

ISSN:

0178-2312

Publisher:

De Gruyter

Language:

English

Submitter:

Angela Amira Botros

Date Deposited:

17 Dec 2018 13:14

Last Modified:

23 Oct 2019 19:39

Publisher DOI:

10.1515/auto-2018-0069

BORIS DOI:

10.7892/boris.122100

URI:

https://boris.unibe.ch/id/eprint/122100

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