Abstract
This letter presents a force observer that estimates the external interaction forces from the measured joint position and joint actuation for a class of robotic manipulators. This is done without an explicit (physical) force or torque sensor, through an extended state observer (ESO) assuming a known model of the dynamics of the manipulator. It is designed to be capable of estimating relatively fast time-varying external forces. The main result shows that the proposed ESO is theoretically able to estimate unknown time-varying external forces to an arbitrary accuracy for any initial condition starting in a given compact set. Simulation results demonstrate the effectiveness of the proposed ESO. Moreover, first experimental evaluations with a healthy subject and a poststroke patient on a rehabilitation robotic platform show the feasibility of the approach in this context and highlight the importance of the quality of the dynamic model.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
