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

doi:10.1109/BIOROB.2010.5626773

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

理工学術院総合研究所

研究成果: Conference contribution

4 引用（Scopus）

抜粋

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.

元の言語	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	https://doi.org/10.1109/BIOROB.2010.5626773
出版物ステータス	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

Other	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
市	Tokyo
期間	10/9/26 → 10/9/29

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering

文献にアクセス

10.1109/BIOROB.2010.5626773

フィンガープリント Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

これを引用

Kobayashi, Y., Watanabe, T., Ando, T., Seki, M., & Fujie, M. G. (2010). Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system. ： 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 553-559). [5626773] https://doi.org/10.1109/BIOROB.2010.5626773

Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system. / Kobayashi, Yo; Watanabe, Takao; Ando, Takeshi; Seki, Masatoshi; Fujie, Masakatsu G.

2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 553-559 5626773.

研究成果: Conference contribution

Kobayashi, Y, Watanabe, T, Ando, T, Seki, M & Fujie, MG 2010, Fractional impedance control for reproducing the material properties of muscle and its application in a body weight support system. ： 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010., 5626773, pp. 553-559, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, 10/9/26. https://doi.org/10.1109/BIOROB.2010.5626773

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