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Torque Estimation in a Wrist Rehabilitation Robot Using a Nonlinear Disturbance Observer

[+] Author Affiliations
Mohammadhossein Saadatzi, David C. Long, Ozkan Celik

Colorado School of Mines, Golden, CO

Paper No. DSCC2015-9717, pp. V001T18A001; 8 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


In this paper, we present implementation of a nonlinear disturbance observer algorithm to estimate disturbance torques on a wrist rehabilitation robot. The ultimate goal is to enable accurate estimation of user interaction torques without force/torque sensors. A dynamic model of the Wrist Gimbal two degree-of-freedom forearm and wrist exoskeleton is developed. A nonlinear disturbance observer (NDO) algorithm that incorporates the robot dynamics is implemented. Friction models for both joints of the robot are identified. The robot dynamic model and the accuracy of the disturbance torque estimations are experimentally verified under closed-loop trajectory tracking scenarios.

Copyright © 2015 by ASME
Topics: Torque , Robots



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