Quadrature current disturbance compensation for improved exoskeleton torque control

Raphael Hoffmann; Jan Dominik Franz; Steffen Leonhardt; Marian Walter

doi:10.18416/AUTOMED.2026.2498

Proceedings on Automation in Medical Engineering
Vol. 3 No. 1 (2026): Proc AUTOMED
https://doi.org/10.18416/AUTOMED.2026.2498

18th Interdisciplinary AUTOMED Symposium in Collaboration with the TC Medical Robotics, 2498

Quadrature current disturbance compensation for improved exoskeleton torque control

Raphael Hoffmann (Doctoral Researcher), Jan Dominik Franz (Institute of Medical Information Technology, RWTH Aachen University, Aachen, Germany), Steffen Leonhardt (Institute of Medical Information Technology, RWTH Aachen University, Aachen, Germany), Marian Walter (Institute of Medical Information Technology, RWTH Aachen University, Aachen, Germany)

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

Active exoskeletons for elderly have very high demands on their actuators’ performances to not injure or irritate their wearer. One crucial aspect is the angle dependent torque of synchronous motors. Especially for a torque-controlled motor, ripples in the torque can lead to an actuator’s behavior that feels uncomfortable for the wearer. In this paper we present a new approach for online torque ripple compensation with the use of a disturbance observer. The disturbance compensation is based on a harmonic current injection and tested in a scenario with constant load and shows a significant reduction in torque ripple.

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