Fractional impedance control for reproducing the material properties of muscle

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

*この研究の対応する著者

研究成果

4 被引用数 (Scopus)

抄録

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.

本文言語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
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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