Impedance control is capable of further flexibly adjusting the driving-point impedance of series elastic actuators (SEAs) in addition to impedance reduction by the elastic element. This enhances safety and compliance during interaction between humans and robots, in comparison with rigid robots under impedance control or SEAs under position control. In this study, we propose an impedance controller for SEA systems that is developed based on the singular perturbation (SP) theory and time-delay estimation (TDE) technique. The SP theory allows for alleviating the burden of the requirement for states to be measured. The TDE technique is effective in compensating for system dynamics and uncertainties involved in system behaviors with minute computation loads. Employing both a simulation study and experimental study, we demonstrate the efficacy of the proposed control created from the combination of the SP theory and TDE technique. The effect of the proposed impedance control on reducing the driving-point impedance of interacting SEAs is examined.

中文翻译：

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基于奇异摄动理论的串联弹性执行器鲁棒阻抗控制器设计。

阻抗控制除了可以通过弹性元件降低阻抗外，还可以进一步灵活地调整串联弹性致动器（SEA）的驱动点阻抗。与阻抗控制下的刚性机器人或位置控制下的SEA相比，这提高了人机交互过程中的安全性和顺应性。在这项研究中，我们提出了一种基于奇异摄动（SP）理论和时延估计（TDE）技术开发的SEA系统阻抗控制器。SP理论可以减轻要测量状态的需求负担。TDE技术可有效补偿系统动态和微小的计算负载所涉及的系统行为中的不确定性。通过模拟研究和实验研究，我们证明了结合SP理论和TDE技术创建的拟议控制的功效。检查了建议的阻抗控制对降低交互SEA的驱动点阻抗的影响。