In this study, Compliance Control Algorithm for Rehabilitation Robot (KARES II) and FIT sensor-less torque sensing method are developed and implemented.
KARESII was designed to do 13 pre-defined tasks. Among the pre-defined tasks, there exist some contact tasks between robot and the disabled. Therefore, developing rehabilitation robot, compliance control is needed and is very essential. And from the viewpoint of cost, rehabilitation robot must be cheap enough for the disabled to buy it. So, not to raise the cost of the robot, development of FIT sensorless FIT sensing technique is needed. In this research, based on the analysis of contact task characteristics, logical compliance control algorithm is proposed. And using a well-known controller TDC, FIT sensor-less FIT sensing method is proposed. All these algorithm and method were combined and implemented to shaving task successfully.
