COMPLIANCE CONTROL OF ROBOTIC WALK ASSIST DEVICE VIA INTEGRAL SLIDING MODE CONTROL
- Resource Type
- Conference
- Authors
- Shah, Syed Humayoon; Khan, S G; Haq, Izhar ul; Shah, Kamran; Abid, Anam
- Source
- 2019 16th International Bhurban Conference on Applied Sciences and Technology (IBCAST) Applied Sciences and Technology (IBCAST), 2019 16th International Bhurban Conference on. :515-520 Jan, 2019
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Computing and Processing
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Legged locomotion
Mathematical model
Sliding mode control
Dynamics
Feedback linearization
Computational modeling
Robotic walk assist device
Integral Sliding Mode Control
Model Reference Compliance Control
Mass Spring Damper System
- Language
- ISSN
- 2151-1411
The existing robotic walk assist devices (RWAD) are not affordable for everyone particularly in low income countries like Pakistan. In addition, convincing people to adopt such devices is somehow challenging due to lack of trust, dependability and cultural constraints. Safety of the users is also a major concern. Many researchers are currently working in this area to come up with better mechanical design along with safe and trust worthy control techniques. Some aspects of safety can be addressed with the help of compliance (low-stiffness and flexibility) control. Compliance(low stiffness) control will make RWAD more user friendly by limiting the forces RWAD applied on the human user. In this paper a model reference compliance control scheme is suggested for a robotic walk assist device based on integral sliding mode control (ISMC) coupled with a dynamic model based feedback linearization controller. Joint torques feedback from the knee and hip joints are used to make the robotic walk assist device compliant via ISMC. A mass-spring-damper system is used as a compliant reference model. Simulation results are presented to show the effectiveness of the suggested scheme.