Purpose

This paper aims to develope a novel fractional hybrid impedance control (FHIC) approach for high-sensitive contact stress force tracking control of the series elastic muscle-tendon actuator (SEM-TA) in uncertain environments.

Design/methodology/approach

In three different cases, the fractional parameters of the FHIC were optimized with the particle swarm optimization algorithm. Its adaptability to the pressure of the sole of the foot on real environments such as grass (soft), carpet (medium) and solid floors (hard) is far superior to traditional impedance control. The main aim of this paper is to derive the dynamic simulation models of the SEM-TA, to develop a control architecture allowing for high-sensitive contact stress force control in three cases and to verify the simulation models and the proposed controller with experimental results. The performance of the optimized controllers was evaluated according to these parameters, namely, maximum overshoot, steady-state error, settling time and root mean squared errors of the positions. Moreover, the frequency robustness analysis of the controllers was made in three cases.

Findings

Different simulations and experimental results were conducted to verify the control performance of the controllers. According to the comparative results of the performance, the responses of the proposed controller in simulation and experimental works are very similar.

Originality/value

Origin approach and origin experiment.

中文翻译：

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串联弹性肌腱执行器的新型分数混合阻抗控制

目的

本文旨在开发一种新型分数混合阻抗控制 (FHIC) 方法，用于在不确定环境中对串联弹性肌腱执行器 (SEM-TA) 进行高灵敏度接触应力跟踪控制。

设计/方法/方法

在三种不同的情况下，FHIC 的分数参数用粒子群优化算法进行了优化。其对脚底对草地（软）、地毯（中）、实心地板（硬）等真实环境压力的适应能力远超传统阻抗控制。本文的主要目的是推导出 SEM-TA 的动态仿真模型，开发一种允许在三种情况下进行高灵敏度接触应力控制的控制架构，并用实验结果验证仿真模型和建议的控制器。根据这些参数评估优化控制器的性能，即最大超调、稳态误差、稳定时间和位置的均方根误差。而且，

发现

进行了不同的模拟和实验结果来验证控制器的控制性能。根据性能的比较结果，所提出的控制器在仿真和实验工作中的响应非常相似。

原创性/价值

原点方法和原点实验。