摘要：AbstractIn applications like human friendly robots, fast walking machines, exoskeletons and prosthetic devices, the recent trends select actuation system with physical joint flexibility. Series-elastic-actuation offers a method to achieve this flexibility having an actuator and an elastic transmission in series. In general, on having an inherent passive damping effect along with elasticity, the transmission will behave as a mechanical impedance element. In operating the transmission system, it is required to know the impedance components reliably. The best possible transmission model also is approximate only and may produce erroneous results with varying behaviour of the passive transmission with time environment condition. This paper proposes a Dual Extended Kalman Filter based method for on-line estimation of the transmission impedance of such a passive damped series-elastic transmission. The estimation is based on measurements of position and force. The effectiveness of the proposed estimator is shown through experiments on a transmission with an exponential spring and nonlinear damper, developed for a variable impedance actuator.
