Effects of discretization on the K-width of series elastic actuators
| dc.citation.firstpage | 421 | en_US |
| dc.citation.journalTitle | 2017 IEEE International Conference on Robotics and Automation (ICRA) | en_US |
| dc.citation.lastpage | 426 | en_US |
| dc.contributor.author | Losey, Dylan P. | en_US |
| dc.contributor.author | O’Malley, Marcia K. | en_US |
| dc.date.accessioned | 2018-01-25T17:02:19Z | en_US |
| dc.date.available | 2018-01-25T17:02:19Z | en_US |
| dc.date.issued | 2017 | en_US |
| dc.description.abstract | Rigid haptic devices enable humans to physically interact with virtual environments, and the range of impedances that can be safely rendered using these rigid devices is quantified by the Z-Width metric. Series elastic actuators (SEAs) similarly modulate the impedance felt by the human operator when interacting with a robotic device, and, in particular, the robot's perceived stiffness can be controlled by changing the elastic element's equilibrium position. In this paper, we explore the K-Width of SEAs, while specifically focusing on how discretization inherent in the computer-control architecture affects the system's passivity. We first propose a hybrid model for a single degree-of-freedom (DoF) SEA based on prior hybrid models for rigid haptic systems. Next, we derive a closed-form bound on the K-Width of SEAs that is a generalization of known constraints for both rigid haptic systems and continuous time SEA models. This bound is first derived under a continuous time approximation, and is then numerically supported with discrete time analysis. Finally, experimental results validate our finding that large pure masses are the most destabilizing operator in human-SEA interactions, and demonstrate the accuracy of our theoretical K-Width bound. | en_US |
| dc.identifier.citation | Losey, Dylan P. and O’Malley, Marcia K.. "Effects of discretization on the K-width of series elastic actuators." <i>2017 IEEE International Conference on Robotics and Automation (ICRA),</i> (2017) IEEE: 421-426. https://doi.org/10.1109/ICRA.2017.7989054. | en_US |
| dc.identifier.digital | ICRA_2017 | en_US |
| dc.identifier.doi | https://doi.org/10.1109/ICRA.2017.7989054 | en_US |
| dc.identifier.uri | https://hdl.handle.net/1911/99247 | en_US |
| dc.language.iso | eng | en_US |
| dc.publisher | IEEE | en_US |
| dc.rights | This is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE. | en_US |
| dc.title | Effects of discretization on the K-width of series elastic actuators | en_US |
| dc.type | Journal article | en_US |
| dc.type.dcmi | Text | en_US |
| dc.type.publication | post-print | en_US |
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