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.
|ホスト出版物のタイトル||2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010|
|出版ステータス||Published - 2010|
|イベント||2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo|
継続期間: 2010 9 26 → 2010 9 29
|Other||2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010|
|Period||10/9/26 → 10/9/29|
ASJC Scopus subject areas