Control properties induced by the existence of antagonistic pairs of bi-articular muscles — Mechanical engineering model analyses

Kumamoto, Minayori; Oshima, Toru; Yamamoto, Takao

doi:10.1016/0167-9457(94)90009-4

Cited by 147 publications

(72 citation statements)

References 7 publications

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“…13 ∆r r r (I) (Kumamoto et al, 1994) © 2017 The Japan Society of Mechanical Engineers Vol.11, No.3 (2014). Kobetic, R., To, C., Schnellenberger, J., Audu, M., Bulea, T., Gaudio, R., Pinault, G., Tashman, S. and Triolo, R.,…”

Section: Ansmentioning

confidence: 99%

An application of adjustable response mechanism to the musculoskeletal robot

Urai¹,

Nakata²,

Nakamura³

et al. 2017

Transactions of the JSME (In Japanese)

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Recently, robots are expected to support actions performed in a real-life environment in our daily lives. However, robots encounter several interferences while performing physical interactions, such as shaking hands, hugging, and holding various objects. Therefore, it is difficult for the robots to perform such actions flexibly owing to the unexpected noises associated with these actions. Humans, in contrast, can cope with various disturbances thanks to the flexibility of their body structure. It is suggested that this property can be realized by changing the passive dynamics depending on the situation and task. Passive dynamics can be changed using two important mechanisms. One is imparting a high degree of freedom, i.e., redundancy of joints. The other is to incorporate a multi-articular muscle, i.e., redundancy of actuators.Using these redundancies, several complicated movements and power adjustments can be realized. In this study, a humanlike upper-body musculoskeletal robot comprising redundant joints and actuators is developed. The robot can change its passive dynamics by simply changing the mutual interconnection of air actuators. In this paper, we report the structure and performance evaluation of the robot. The response characteristics of the robotic arm under different combinations of actuators connections are presented.

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Section: Ansmentioning

confidence: 99%

An application of adjustable response mechanism to the musculoskeletal robot

Urai¹,

Nakata²,

Nakamura³

et al. 2017

Transactions of the JSME (In Japanese)

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show abstract

“…It has long been known that biarticular muscles are necessary for constructing a stiffness ellipse by using a musculoskeletal mechanism (10) . It has also been shown that the control of a functional effective muscle model that includes the biarticular muscles allows accurate force control of the tip system (11) . Further, a method for controlling the stiffness ellipse by using a nonlinear spring has been proposed (12) .…”

Section: Introductionmentioning

confidence: 99%

Development of Rehabilitation Support Robot with Guidance Control Based on Biarticular Muscle Mechanism

et al. 2014

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This study presents the guidance control provided by a rehabilitation support robot that is intended to assist with the movement of a patient's arm. The guidance control is accomplished using a stiffness ellipse. The characteristic that the direction of force acted upon changes depending on the settings of the stiffness ellipse is used for guiding the movement. The system developed in this study adjusts the stiffness ellipse by using a musculoskeletal manipulator with biarticular mechanism. It was verified that the movement of a subject could be guided by changing the stiffness ellipse and assisting the movement. The experimental results demonstrate that it is possible to guide the movement without any dependency on the control bandwidth of the actuator.

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“…The existence of an antagonistic pair of bi-articular muscles can positively contribute to the compliant property of the multi-articular extremities. Furthermore, this additional actuator also provides more power for position and force control of the endpoint of the extremities, which may result in smooth, fine and precise movements [30]. Several strategies have been used for trajectory tracking control of the developed system such as co-contraction model, modified feedforward-feedback.…”

Section: Introductionmentioning

confidence: 99%

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

Dao

Yamamoto

2018

Applied Sciences

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Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects' lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system.

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Control properties induced by the existence of antagonistic pairs of bi-articular muscles — Mechanical engineering model analyses

Cited by 147 publications

References 7 publications

An application of adjustable response mechanism to the musculoskeletal robot

An application of adjustable response mechanism to the musculoskeletal robot

Development of Rehabilitation Support Robot with Guidance Control Based on Biarticular Muscle Mechanism

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

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