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Nonintrusive efficiency evaluation method based on the air gap torque and rotor slot frequency is generally used in industry application. However, this method has the following problems: 1) the number of rotor slots should be given in advance; 2) with some special number of pole pairs and rotor slots, the stator and rotor slot harmonics may be aliasing, which may lead to great errors in identification...
The safety is an important issue in robot-assisted rehabilitation systems. In this paper, we present a therapist-joined hybrid control method to improve the safety of a robotic ankle-foot system for post stroke rehabilitation, combining therapist-joined zero torque control and proxy-based sliding mode control in the continuous passive motion based rehabilitation. The zero torque control is applied...
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