Active Compliance Control for the Rehabilitation Robot with Cable Driven Transmission

摘要

In this paper, we proposed a TDC based FIT sensorless active compliance control algorithm for a rehabilitation robot (KARES Ⅱ). The preference of compliance of the disabled is presented by clinical testing at Korea National Rehabilitation Center with the disabled. The KARES Ⅱ was designed to work 12 pre-defined tasks which are very essential for helping the disabled. Among the tasks, some contact tasks between the robot and the disabled exist. Therefore, IDC based F/T sensorless compliance control algorithm is developed for these tasks without additional cost. We verified the proposed algorithm with experiment. Also for the practical use, suitable compliance for contact tasks is chosen by clinical testing at Korea National Rehabilitation Center.<br/>