Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system

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

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

4 Citations (Scopus)

Abstract

We here report 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 for people. This paper presents an evaluation of this concept using simulations and experiments. The numerical analysis results demonstrated that a fractional impedance controller has superior impact absorption performance than a conventional controller for contact with elastic objects, especially for high-stiffness objects and high-velocity movement. Moreover, experiments using a robotic system for body weight support demonstrate the effectiveness of the fractional controller for suppressing a large contact force between subject and robot.

Original languageEnglish
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages553-559
Number of pages7
DOIs
Publication statusPublished - 2010
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo
Duration: 2010 Sep 262010 Sep 29

Other

Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CityTokyo
Period10/9/2610/9/29

Fingerprint

Muscle
Materials properties
Controllers
Robots
Biomaterials
Patient rehabilitation
Numerical analysis
Robotics
Experiments
Stiffness

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

Cite this

Kobayashi, Y., Watanabe, T., Ando, T., Seki, M., & Fujie, M. G. (2010). Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 553-559). [5626773] https://doi.org/10.1109/BIOROB.2010.5626773

Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system. / Kobayashi, Yo; Watanabe, Takao; Ando, Takeshi; Seki, Masatoshi; Fujie, Masakatsu G.

2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 553-559 5626773.

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

Kobayashi, Y, Watanabe, T, Ando, T, Seki, M & Fujie, MG 2010, Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system. in 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010., 5626773, pp. 553-559, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, 10/9/26. https://doi.org/10.1109/BIOROB.2010.5626773
Kobayashi Y, Watanabe T, Ando T, Seki M, Fujie MG. Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 553-559. 5626773 https://doi.org/10.1109/BIOROB.2010.5626773
Kobayashi, Yo ; Watanabe, Takao ; Ando, Takeshi ; Seki, Masatoshi ; Fujie, Masakatsu G. / Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system. 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. pp. 553-559
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