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

Fingerprint

Muscle
Materials properties
Controllers
Robots
Numerical analysis
Robustness (control systems)
Biomaterials
Patient rehabilitation
Stiffness
Experiments

ASJC Scopus subject areas

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

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

Fractional impedance control for reproducing the material properties of muscle. / Kobayashi, Yo; Ando, Takeshi; Watanabe, Takao; Seki, Masatoshi; Fujie, Masakatsu G.

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 5498-5504 5650195.

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

Kobayashi, Y, Ando, T, Watanabe, T, Seki, M & Fujie, MG 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., 5650195, pp. 5498-5504, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, 10/10/18. https://doi.org/10.1109/IROS.2010.5650195
Kobayashi Y, Ando T, Watanabe T, Seki M, Fujie MG. 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. 2010. p. 5498-5504. 5650195 https://doi.org/10.1109/IROS.2010.5650195
Kobayashi, Yo ; Ando, Takeshi ; Watanabe, Takao ; Seki, Masatoshi ; Fujie, Masakatsu G. / Fractional impedance control for reproducing the material properties of muscle. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 5498-5504
@inproceedings{155a8e4962794a12803fc05c9cc42a3f,
title = "Fractional impedance control for reproducing the material properties of muscle",
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.",
author = "Yo Kobayashi and Takeshi Ando and Takao Watanabe and Masatoshi Seki and Fujie, {Masakatsu G.}",
year = "2010",
doi = "10.1109/IROS.2010.5650195",
language = "English",
isbn = "9781424466757",
pages = "5498--5504",
booktitle = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",

}

TY - GEN

T1 - Fractional impedance control for reproducing the material properties of muscle

AU - Kobayashi, Yo

AU - Ando, Takeshi

AU - Watanabe, Takao

AU - Seki, Masatoshi

AU - Fujie, Masakatsu G.

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=78651512120&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78651512120&partnerID=8YFLogxK

U2 - 10.1109/IROS.2010.5650195

DO - 10.1109/IROS.2010.5650195

M3 - Conference contribution

AN - SCOPUS:78651512120

SN - 9781424466757

SP - 5498

EP - 5504

BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

ER -