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This manuscript describes a methodology to design a controller for an artificial muscles type four fingers dexterous robotics hand. Electro-Active Polymers (EAP)materials have been used to construct the muscles type four fingers hand. The main dilemma in the control of artificial muscles type fingers, is to provide an accurate fingertips tracking within the operational space. Yet, if bending angles...
Humanoids are increasingly used in the service sectors around the world to work with, or assist humans. However current humanoid designs place limitations on direct engagement with the human in terms of safety and usability. In this paper, we present an approach for the control of hybrid, high-speed and safe human-robot interaction systems with highly non-linear dynamic behavior. The proposed approach...
In a musculoskeletal structure, a set of internal force among muscles plays an important role. The internal force has the particular potential field. Using this property, we can control the position of a musculoskeletal system without any sensory feedback. However, the internal force can not be selected uniquely due to the muscular redundancy. This paper proposes a decision method of the internal...
This paper presents modeling and nonlinear controller design of a 4-axis manipulator arm driven by pneumatic muscle actuators. This arm, named AirArm, was developed within a research project of Festo's Bionic Learning Network. Since each joint is actuated by two pneumatic muscles, not only the joint position but also its mechanical compliance can be controlled directly. Experimental results show a...
Models proposed within the literature of motor control have polarised around two classes of controllers which differ in terms of controlled variables: the Force-Control Models (FCMs), based on dynamic control, and the Equilibrium-Point Models (EPMs), based on kinematic control. This paper proposes a bioinspired model which aims to exploit the strengths of the two classes of models. The model is tested...
The safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this study, joint compliance...
This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control: reaction force generated by the viscoelasticity...
This paper describes important role of muscular viscoelasticity at Feed-forward position control of robot arm based on animal musculoskeletal model. Feed-back controller of animals has big delay. Therefore, feed-forward (FF) controller contributes mainly in local motor control of animals. We focus control ability of animal muscle. Muscle has variable viscoelasticity according to muscular activation...
Numerous researches have been carried out to use robot in the area of stroke rehabilitations. The conventional approach is to assist patient to perform Activities of Daily Living (ADL) through a set of pre-programmed trajectories. The main drawback lies in the lack of voluntary movement by the patient. Many of these works have been carried out by using positional feedback control. In this kind of...
This paper reveals the advantage of the biarticular muscle which has been said to play an important role in human's motion control and applies it to the robot manipulator control. Biarticular muscle changes the energy flow in muscles resulting in efficient motion and help stabilizing the posture of the human body. These advantages are analyzed and reflected to the control of a robot manipulator. In...
In recent years, robots have been used in medicine and everyday life. Therefore, it is desirable that these robots be flexible and lightweight. For this reason, we have studied and developed straight-fiber-type artificial muscles derived from McKibben-type muscles, which have excellent contraction rate and force characteristics. Last year, we developed a manipulator with six degrees of freedom using...
Robots have become an integral part of human life, and the relationship between humans and robots has grown closer. Thus, it is desired that robots have characteristics similar to humans. In this context, we paid attention to an artificial muscle actuator. We used straight-fiber-type artificial muscles, derived from the McKibben type, which have excellent characteristics with respect to the contraction...
The safety of humans working with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet required safety have been met owing to the absence of compliance in the robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve the joint compliance. Here, the joint compliance actuated...
A bidirectional force feedback dataglove actuated by pneumatic artificial muscles is introduced which has simpler exoskeleton structure and exerts bidirectional force only on the fingertips. Moreover, its fewer attachments can reduce the effect of the attachment looseness on the accuracy of position and force control. It meets all needs of virtual reality and the requirement of hand rehabilitation...
The safety of humans working with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet required safety have been met owing to the absence of compliance in the robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve the joint compliance. Here, the joint compliance actuated...
This paper suggests control algorithm for a robot manipulator which has biarticular muscle torque input in addition to the conventional two monoarticular muscle torques. Using a modified Jacobian matrix which is based on the absolute angle of two joints, we derive simple relationship between an endpoint force/position and three muscle torques. Based on this relationship a feedback controller is developed...
The paper presents an introduction of virtual reality environments to the commercial single-joint rehabilitation robot. A dynamometer has been modified to the level that enables gait goniogram based position control. The robot mimics the isolated joint movement while the subject is required to perform the task in the virtual environment. The subject generates joint torque to control the object in...
An overview is provided of the design, operation and performance of an experimental test facility that has been developed for stroke rehabilitation. The aim of the system is to improve sensory-motor function of the impaired upper limb, and it has recently been used in clinical trials with stroke participants. During treatment subjects were seated at the workstation and their impaired arm strapped...
This paper presents an anthropomorphic prototype hand prosthesis that is intended for use with a multiple channel myoelectric interface. The hand contains 16 joints, which are differentially driven by a set of five independent actuators. The hand prototype was designed with the minimum number of independent actuators required to provide a set of eight canonical hand postures. This paper describes...
Human hands are capable of many dexterous grasping and manipulation tasks. To understand human levels of dexterity and to achieve it with robotic hands, we constructed an anatomically correct testbed (ACT) hand which allows for the investigation of the biomechanical features and neural control strategies of the human hand. This paper focuses on developing control strategies for the index finger motion...
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