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

*この研究の対応する著者

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
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
ページ553-559
ページ数7
DOI
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 262010 9 29

Other

Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CityTokyo
Period10/9/2610/9/29

ASJC Scopus subject areas

  • 人工知能
  • 生体医工学

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