Self tuning and Predictable Force Control of series elastic actuators

What is it about?

This is an adaptive force controller for series elastic actuators in pHRI. The controller guarantees well defined close loop dynamics by adapting to the current human dynamics.

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Why is it important?

By using the proposed control method you will have a force controller for an exoskeleton or an active orthosis wich is (1) simple (2) self-tuning (3) patient specific. This controller ensures amost perfect traking of your force reference, given a desired system bandwidth. Also it ensures zero static error without the need of an integrator.