Fractional impedance control for reproducing the material properties of muscle

Yo Kobayashi, Takeshi Ando, Takao Watanabe, Masatoshi Seki, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

We reported a novel impedance control method based on a fractional calculation inspired by the viscoelastic properties of biomaterials such as muscle. This fractional impedance controller was found to realize superior impact absorption for the purpose of flexible contact for assistive and rehabilitation robots. This paper presents a preliminary evaluation of this concept using simulations and experiments. The numerical analysis results demonstrate that a fractional impedance controller has superior impact absorption performance than a conventional controller for contact with the elastic objects, especially for high stiffness objects and high velocity movement. The numerical analysis also reveals that using a fractional controller improved the robustness with respect to the robot dynamics. Moreover, the experimental results demonstrate that the fractional controller effectively suppresses the force between a person and a robot.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages5498-5504
Number of pages7
DOIs
Publication statusPublished - 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
Duration: 2010 Oct 182010 Oct 22

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Fractional impedance control for reproducing the material properties of muscle'. Together they form a unique fingerprint.

  • Cite this

    Kobayashi, Y., Ando, T., Watanabe, T., Seki, M., & Fujie, M. G. (2010). Fractional impedance control for reproducing the material properties of muscle. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 5498-5504). [5650195] https://doi.org/10.1109/IROS.2010.5650195