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This work presents the novel concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm while performing tasks which require significant dynamics variation. As an alternative method to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to...
In this paper, we present a walking biped, based on principles of mammalian neuromuscular architecture. Walking in mammals is a fluid, dynamical interaction between a central pattern generator, the biomechanics of the body, the environment, and sensory feedback. Our robot is designed based on principles of human leg muscle architecture. We incorporate load detecting force sensors that model Golgi...
The paper investigates the dynamic characteristics that shape human skills using the task-space methods found in robotics research. It is driven by the hypothesis that each subject's physiology can be reflected to the task dynamics using the operational space acceleration characteristics and that elite performers achieve the optimum transmission from their available muscle induced torque capacity...
This paper presents a novel method for controlling a single-joint robot arm driven by two pneumatic artificial muscles (PAMs). We introduce the concepts of the agonist-antagonist muscle-pairs ratio (A-A ratio) and the agonist-antagonist muscle-pairs activity (A-A activity), and demonstrate that our concepts enable separate linear control of the equilibrium joint angle and joint stiffness. We also...
Reaching and grasping of objects in an everyday-life environment seems so simple for humans, though so complicated from an engineering point of view. Humans use a variety of strategies for reaching and grasping anything from the simplest to the most complicated objects, achieving high dexterity and efficiency. This seemingly simple process of reach-to-grasp relies on the complex coordination of the...
The compliance of muscles with external forces and the structural stability given by biarticular muscles are important features of animals to realize dynamic whole body motions such as running and hopping in various environments. For this reason, we have been studying an electromagnetic linear actuator. This actuator can emulate the behavior of a human muscle such as the spring-damper characteristics...
This paper presents a direct teaching method for musculoskeletal robots driven by pneumatic artificial muscles (PAMs). In order to reproduce motions which are directly taught by a human, it is necessary to reproduce the lengths of PAMs because they geometrically determine the posture assumed by the robot. However, it is difficult to measure the lengths of PAMs because mounting length sensors is space-consuming...
The Biologically Inspired Robotics group at Case Western Reserve University has developed several innovative designs for a new kind of robot that uses peristalsis, the method of locomotion used by earthworms. Unlike previous wormlike robots, our concept uses a continuously deformable outer mesh that interpolates the body position between discrete actuators. Here, we summarize our progress with this...
We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES). The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model is identified that describes the mapping from muscle stimulations to the endpoint force measured at the subject's hand. To compute the muscle stimulations...
A number of robotic studies have recently turned to biological inspiration in designing control schemes for flexible robots. Examples of such robots include continuous manipulators inspired by the octopus arm. However, the control strategies used by an octopus in moving its arms are still not fully understood. Starting from a dynamic model of an octopus arm and a given set of muscle activations, we...
This paper proposes a novel human-computer interface system, with architecture flexible enough to adapt to various types of physical disabilities and able-bodied person, and also capable of connecting to various devices via a wireless protocol, using a tablet PC as a central system with which a user are interacting. For this interface system surface Electromyogram (EMG) of various muscles which a...
This paper presents an improved mode shape function-based 3D dynamic model for pneumatic muscle actuated continuum arms, and validates the model and simulation results through experimental testing. The model also facilitates the direct control of pneumatic muscle actuated continuum arms through the use of input pressure. This is achieved without additional intermediary transformations and does not...
Musculoskeletal models are effective tools for understanding living systems. To ensure proper model function, they must be checked against the literature or specimens. Existing checking methods require cadaver experimentation, highly knowledgeable medical personnel, and/or significant time. In this paper, we propose a quick and efficient method, called functional consistency checking, for use when...
The octopus is a marine animal whose body has no rigid structures. It has eight arms mainly composed of muscles organized in a peculiar structure, named muscular hydrostat, that can change stiffness and that is used as a sort of a modifiable skeleton. Furthermore, the morphology of the arms and the mechanical characteristics of their tissues are such that the interaction with the environment, namely...
This paper examines the design and control of a robotic arm inspired by the anatomy and neurophysiology of Octopus vulgaris in light of embodiment theory. Embodiment in an animal is defined as the dynamic coupling between sensorymotor control, anatomy, materials, and the environment that allows for the animal to achieve effective behaviour. Octopuses in particular are highly embodied and dexterous...
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