Toward Safe Human–Robot Interaction: A Fast- Response Admittance Control Method for Series Elastic Actuator

Abstract

Series elastic actuator (SEA) is a promising compliance device due to its lower output mechanical impedance, and it is widely applied to ensure safe human-robot interaction. Although some efforts have been made to achieve accurate stiffness tracking, the time-delay issue in SEA control has still not been well investigated. However, the time delay can cause an inaccurate response and increase the risk of injury. To overcome this problem, this article proposes a fast-response admittance control method for SEAs. First, an admittance control scheme considering the external force estimation is developed for a hydraulic SEA. Then, a parallel adaptive time-series (ATS) (P-ATS) compensator is proposed and further adopted in the admittance control scheme to compensate for the time delay and tracking error. The P-ATS compensator is a modification of the ATS compensator, which is enhanced with a unique parallel mechanism. Such a mechanism can save more computational resources on locating better parameters the for P-ATS compensator, thus improving its performance. Moreover, the parameter setting is converted to an optimization task, which is solved by the whale swarm algorithm (WSA) to achieve higher accuracy. The newly located parameters are compared to the current parameters based on a proposed evaluation criterion, thus guaranteeing the quality of the updated parameters. All the above strategies are employed to improve the SEA admittance control performance. The results obtained from both simulation and real-world experiments validate that, compared to conventional methods, the proposed method achieves a better performance in SEA stiffness tracking with lower time delay and tracking error.