Fig. 3 Experimental results evaluating the mechanical transparency of the testbed, specifically its ability to maintain a constant torque output against motion disturbances at different disturbance velocities: Slow (0.31 rad/s) and Fast (0.65 rad/s) (IMAGE)
Caption
Fig. 3 Experimental results evaluating the mechanical transparency of the testbed, specifically its ability to maintain a constant torque output against motion disturbances at different disturbance velocities: Slow (0.31 rad/s) and Fast (0.65 rad/s). The P-P condition is defined as follows: The base force, which refers to the primary force generated by the system, is produced using air pressure. Additionally, kinetic friction is compensated for by the same air pressure system. The P–P (Pneumatic base force – Pneumatic compensation force) control method, leveraging this principle, can be implemented using conventional air cylinders. The P-E condition (proposed) is defined as follows: The base force is produced using air pressure. Additionally, kinetic friction is compensated for by electromagnetic force. The P–E (Pneumatic base force – Electromagnetic compensation force) control method, leveraging this principle, is achievable with iPEHLA. (a) Shoulder joint torque of the testbed under the slow condition. (b) Shoulder joint torque of the testbed under the fast condition. (c) Comparison of root mean square error of the shoulder joint torque.
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Dr. Yoshihiro Nakata, the University of Electro-Communications
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