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Compliant Control

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The Cartesian computed torque method is applied on the highly geared actuators equipped with electric motors and encoders for compliant control. The main purpose of the compliant control is to secure the joint compliance on the Cartesian coordinate with maintaining user-defined posture. The force amplification is possible using force feedback based on an 3-axis FT sensor. The applications of this technology are the active suspension of the HuboQ, the handshake of Hubo2+ and an exoskeleton system.