Control Strategies for a Cable-Driven Arm Swing Actuation System: First Experimental Results

These datasets are related to the research project funded by Swiss National Science Foundation, grant number 32HW-0_220453. These datasets are associated with the article: Juan Fang, Michael Haldimann, and Robert Riener, "Control Strategies for a Cable Driven Arm Swing Actuation System: First Experimental Results" published in the Journal of Rehabilitation Methods and Technologies. This study carried out a preliminary investigation on the generation of assisted arm swing through two cable-driven actuators (CDAs), with a focus on development of force and motion control strategies. The datasets include our test results from two control strategies the CDAs: (1) an impedance controller with direct force control in torque mode, and (2) an admittance controller with indirect force control in speed mode. The data show that the impedance algorithms enabled good guidance for trajectory tracking when the CDA was operated alone. However, joint operation of two CDAs showed vibration. In contrast, the admittance algorithms enable the two CDAs to produce stable and adaptive arm swing.

Organizational unit

BFH - Institute for Human Centered Engineering (HUCE)

Type

Dataset

DOI

10.34914/olos:p6ttcbtf3jhwxfmsyjsgtez63q

License

Creative Commons Attribution 4.0 International

Keywords

Cable-driven actuator, force control, movement guidance, admittance control, impedance control, arm swing, rehabilitation robotic system