A resistance compensation control algorithm for a cable-driven hand exoskeleton for motor function rehabilitation

Authors:
Shuang Wang;Jiting Li;Ruoyin Zheng
Affiliations:
The State Key Laboratory of Virtual Reality Technology and Systems, Robotics Institute, Beihang University, Beijing, China;The State Key Laboratory of Virtual Reality Technology and Systems, Robotics Institute, Beihang University, Beijing, China;The State Key Laboratory of Virtual Reality Technology and Systems, Robotics Institute, Beihang University, Beijing, China
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
Year:
2010

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Abstract

The resistance compensation, especially the friction compensation in the Bowden cable transmission is a difficult issue to be handled. Aimed to the resistance reduction requirement in the active rehabilitative motion, a resistance compensation control method is proposed. Based on the simplified transmission model, the resistance, including the cable friction as well as the mechanical moment of inertial, is formulated. To realize the compensation, force sensors are used to measure the force exerted by the human fingertip. With the proposed algorithm, the maximum finger-exerted force is reduced to less than one third of before. The experimental result demonstrates the validity of the proposed method.