Fractional impedance control for reproducing the material properties of muscle

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

研究成果: Conference contribution

3 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
ページ5498-5504
ページ数7
DOI
出版物ステータスPublished - 2010
イベント23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
継続期間: 2010 10 182010 10 22

Other

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

ASJC Scopus subject areas

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

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  • これを引用

    Kobayashi, Y., Ando, T., Watanabe, T., Seki, M., & Fujie, M. G. (2010). Fractional impedance control for reproducing the material properties of muscle. : 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