In recent years, research and development have been conducted on robots designed to assist people with disabilities in daily activities. There is a great demand for control technology for realizing flexible contact and cooperative behavior. We here report a novel impedance control method based on a fractional calculation inspired by the viscoelastic properties of biomaterials such as muscle. This paper presents an evaluation of this concept by simulation and by experiment using a robotic system for body weight support. The experimental results demonstrated that the fractional impedance controller has superior contact force absorption performance compared with a conventional controller, especially for high-stiffness objects and high-velocity movement. This fractional impedance controller may be useful especially for the purpose of flexible contact for assistive and rehabilitation robots for people.
ASJC Scopus subject areas
- コンピュータ サイエンスの応用