Home   >   CSC-OpenAccess Library   >    Manuscript Information
Model Matching Control for an Active-Passive Variable Stiffness Actuator
Po-Jen Cheng, Han-Pang Huang
Pages - 48 - 64     |    Revised - 31-08-2015     |    Published - 30-09-2015
Volume - 6   Issue - 3    |    Publication Date - September 2015  Table of Contents
Serial Elastic Actuator, Bond Graph, Model Matching Control.
In order to increase the safety performance between human and the robot, the variable stiffness mechanism is commonly adopted due to its flexibility in various tasks. However, it makes the actuator more complex and increases the weight of the system. To deal with this problem, the active-passive variable stiffness elastic actuator (APVSEA) [1] and the variable stiffness control that uses a model matching control (MMC) with bond graph are proposed in this article. The APVSEA is modeled as a non-back drivable bond graph model. Combining the MMC with the non-back drivable bond graph model, the overall system can achieve active stiffness control. The simulations and the experiments show good control performance. They prove that the proposed method can achieve active stiffness control well. In the future, the proposed method can also be applied to the robot arm and exoskeletons for balancing safety and the control performance.
1 Google Scholar 
2 CiteSeerX 
3 refSeek 
4 Scribd 
5 SlideShare 
6 PdfSR 
D. Vink, “Aspects of Bond Graph Modelling in Control,” Doctoral Dissertation, Department of Mechanical Engineering, Glasgow University, 2005.
D. Vink, D.J. Balance, P. Gawthrop, “Bond graphs in Model Matching Control,” Mathematical and Computer Modelling of Dynamical Systems, Vol. 12, No. 2, pp. 249-261, 2006.
E. Torres-Jara, and J. Banks, “A Simple and Scalable Force Actuator,” 35th International Symposioum on Robotics, 2004.
G. Golo, van der Schaft, Arjan, P.C. Breedveld, B.M. Maschke., “Hamiltonian Formulation of Bond Graphs,” Nonlinear and Hybrid Systems in Automotive Control, London, pp. 351-372, 2003.
G. Wyeth, "Demonstrating the Safety and Performance of a Velocity Sourced Series Elastic Actuator,” IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, pp. 3642–3647, May 2008.
H.S. Kim, J.J. Park and J.B. Song, “Safe Joint Mechanism using Double Slider Mechanism and Spring for Humanoid Robot Arm,” IEEE International Conference on Human Robots, Daejeon, Korea, pp. 73–78, December 1~3, 2008.
J. Choi, S. Hong, W. Lee and S. Kang, "A Variable Stiffness Joint using Leaf Springs for Robot Manipulators," IEEE International Conference on Robotics and Automation Kobe Internal Conference Center, Kobe, Japan, pp. 4363-4368, May 2009.
J. W. Sensinger, R. F. Weir, “Design and Analysis of a Non-backdrivable Series Elastic Acutator,” IEEE International Conference on Rehabilitation Robotics, Chicago, IL, USA, pp. 390-393, June 2005.
J.J Park, H.S. Kim and J.B. Song, “Safe Robot Arm with Safe Joint Mechanism using Nonlinear Spring System for Collision Safety,” IEEE International Conference on Robotics and Automation , Kobe, Japan, pp. 3371–3376, May 2009.
J.J. Park, B.S. Kim, J.B. Song and H.S. Kim, “Safe Link Mechanism based on Passive Compliance for Safe Human Robot Collision,” IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 1152–1157, April 2007.
J.J. Park, Y.J. Lee, J.B. Song and H.S. Kim, “Safe Joint Mechanism based on Nonlinear Stiffness for Safe Human-Robot Collision,” International Conference on Robotics and Automation, Pasadena, CA, USA, pp. 2177–2182, May 2008.
K. Kong, J. Bae, M. Tomizuka, “Control of Rotary Series Elastic Actuator for Ideal ForceMode Actuation in Human-Robot Interaction Applications,” IEEE/ASME Transactions on Mechatronics, Vol. 14, No. 1, pp. 105-118, 2009.
K. Kong, J. Bae, M. Tomizuka,"A Compact Rotary Series Elastic Actuator for Human Assistive Systems," IEEE/ASME Transactions on Mechatronics, Vol. 17, No. 2, pp. 288 - 297 , April 2012.
M. Grun, R. Muller, U. Konigorski, "Model based control of series elastic actuators," International Conference on Biomedical Robotics and Biomechatronics (BioRob), Roma, pp. 538 – 54, June 2012.
M. Wlasowski, and F. Lorenz, “How to Determine the Solvability of Bond Graph Linear Junction Structures,” Journal of the Franklin Institute, Vol. 328, No. 5, pp. 855-869, 1991.
N. Saga, T. Saikawa and H. Okano, “Flexor Mechanism of Robot Arm using Pneumatic Muscle Actuators,” IEEE International Conference on Mechatronics & Automation, Niagara Falls, Canada, Vol. 3, pp. 1261–1266, July 2005.
R. Ghorbani, and Q. Wu, “Closed Loop Control of an Intentionally Adjustable Compliant Actuator,” American Control Conference, Minneapolis, Minnesota, USA, pp. 3235–3240, June 2006.
R. Hernani, G. Romero, and M.L. Martinez, “A Musculoskeletal Human Gait Model using the Bond Graph Technique,” World Congress of Biomechanics (WCB 2010), Singapore, Vol. 31, pp 270-273, August 2010.
R.F. Ngwompo, S. Scavarda, and D. Thomasset, “Physical Model-Based Inversion in Control Systems Design using Bond Graph Representation Part 1: Theory,” Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 215, No. 2, pp. 95-104, 2001.
R.J. Wang, and H.P. Huang, "Active Variable Stiffness Elastic Actuator: Design and Application for Safe Physical Human-Robot Interaction," IEEE International Conference on Robotics and Biomimetics (ROBIO), Tianjin, China, pp. 1417-1422., December 2010.
R.J. Wang, H.P. Huang, “An Active-Passive Variable Stiffness Elastic Actuator for Safety Robot Systems”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, pp. 3664-3669, Oct. 18-22, 2010.
S. Wolf and G. Hirzinger, “A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation,” IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, pp. 1741–1746, May 2008.
S.A. Migliore, E.A. Brown, and S.P. DeWeerth, “Biologically Inspired Joint Stiffness Control,” IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 4508– 4513, April 2005.
Mr. Po-Jen Cheng
National Taiwan Univerisy - Taiwan
Mr. Han-Pang Huang
National Taiwan Univerisy - Taiwan

View all special issues >>