Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics
Gijo Sebastian, Zeyu Li, Vincent Crocher, Demy Kremers, Ying Tan, Denny Oetomo
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.
BibTeX
@inproceedings{ral2019_interactionforce,
title = {Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics},
author = {Gijo Sebastian and Zeyu Li and Vincent Crocher and Demy Kremers and Ying Tan and Denny Oetomo},
booktitle = {RA-L 2019},
year = {2019}
}