Soft interaction between body weight support system and human using impedance control based on fractional calculus

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

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

In recent years, research and development have been conducted on robots designed to assist people with disabilities in daily activities. There is a great demand for control technology for realizing flexible contact and cooperative behavior. We here report a novel impedance control method based on a fractional calculation inspired by the viscoelastic properties of biomaterials such as muscle. This paper presents an evaluation of this concept by simulation and by experiment using a robotic system for body weight support. The experimental results demonstrated that the fractional impedance controller has superior contact force absorption performance compared with a conventional controller, especially for high-stiffness objects and high-velocity movement. This fractional impedance controller may be useful especially for the purpose of flexible contact for assistive and rehabilitation robots for people.

Original languageEnglish
Pages (from-to)1253-1269
Number of pages17
JournalAdvanced Robotics
Volume26
Issue number11-12
DOIs
Publication statusPublished - 2012 Jul 1

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Controllers
Robots
Biomaterials
Patient rehabilitation
Muscle
Robotics
Stiffness
Experiments

Keywords

  • body weight support
  • flexible contact
  • fractional calculus
  • impedance control
  • viscoelasticity

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Hardware and Architecture
  • Software

Cite this

Soft interaction between body weight support system and human using impedance control based on fractional calculus. / Kobayashi, Yo; Watanabe, Takao; Seki, Masatoshi; Ando, Takeshi; Fujie, Masakatsu G.

In: Advanced Robotics, Vol. 26, No. 11-12, 01.07.2012, p. 1253-1269.

Research output: Contribution to journalArticle

Kobayashi, Yo ; Watanabe, Takao ; Seki, Masatoshi ; Ando, Takeshi ; Fujie, Masakatsu G. / Soft interaction between body weight support system and human using impedance control based on fractional calculus. In: Advanced Robotics. 2012 ; Vol. 26, No. 11-12. pp. 1253-1269.
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