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

doi:10.1109/BIOROB.2010.5626773

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

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 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 language	English
Title of host publication	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages	553-559
Number of pages	7
DOIs	https://doi.org/10.1109/BIOROB.2010.5626773
Publication status	Published - 2010
Event	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo Duration: 2010 Sept 26 → 2010 Sept 29

Other

Other	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
City	Tokyo
Period	10/9/26 → 10/9/29

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering

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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 et al.

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 proceeding › Conference 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

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AB - 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.

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

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