Software framework for human neuromuscular behavior

Blakely, Timothy; Matsuoka, Yoky

doi:10.1109/robot.2009.5152801

Cited by 4 publications

(5 citation statements)

References 13 publications

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“…For accurate control, a real-time platform capable of performing cyclic tasks with minimum time difference between sequential loop times (jitter) was developed using Linux-RTAI (RealTime Application Interface) platform. The low level motor control system was designed as two modules, namely the behavior client module and the aggregation client module (Blakely and Matsuka, 2009).…”

Section: Software Setupmentioning

confidence: 99%

Compliance in parallel to actuators for improving stability of robotic hands during grasping and manipulation

Niehues

Rao

Deshpande

2015

The International Journal of Robotics Research

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Humans exploit the inherent biomechanical compliance in their fingers to achieve stability and dexterity during many manipulation tasks. The compliance is a result of muscles and tendons (series compliance) and flexible joints (parallel compliance). While the effects of series compliance have been studied in many robotic systems, research on the effects of joint compliance arranged in parallel with the actuators is limited. In this paper, we first demonstrate, through mathematical modeling, that introducing parallel compliance improves stability and robustness in the presence of time delay in a generic robotic joint. We also provide guidelines to balance the benefits of added stability with the increased actuator load when implementing parallel compliance in robotic joints. The result is experimentally validated on a one-degree-of-freedom tendon-driven joint. We build upon this result to design two 2-DOF tendon-driven fingers with parallel compliance, and develop an impedance control law for object manipulation with the fingers. The experimental results demonstrate, for the first time, the advantages of introducing parallel compliance in robotic hands during dexterous manipulation tasks, specifically in achieving smoother trajectory tracking, improved stability, and robustness to impacts.

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Section: Software Setupmentioning

confidence: 99%

Compliance in parallel to actuators for improving stability of robotic hands during grasping and manipulation

Niehues

Rao

Deshpande

2015

The International Journal of Robotics Research

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“…We have built a software architecture for the ACT Hand control based on human neuromuscular control properties [4]. Our ultimate goal is to build a software platform that reduces the load of programming DC motor control and allows the user to interface with the ACT Hand in a biologically intuitive format.…”

Section: Act Software Frameworkmentioning

confidence: 99%

“…A single motor neuron is typically attached to multiple muscles and a single muscle receives signals from multiple neurons leading to complex neuromuscular dynamics. The neurons also have local connections with the neurons in the spinal column and the neurons attached to the muscles, providing local reflex circuits that allow quick responses without the temporal delay of communicating the information to and from the cortex [4]. We want to implement the neuromuscular dynamics using a software platform.…”

Section: Act Software Frameworkmentioning

confidence: 99%

“…It controls the DC motor current and voltages based on the commands from the aggregation module and the current position and torque values. The motor [4] communication host also ensures that the commands sent to the motors are within the safety bounds of the motors and ACT Hand motions. The framework is designed to avoid overall crashes/freezes even if part of the framework fails.…”

Section: Act Software Frameworkmentioning

confidence: 99%

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Development of an Anatomically Correct Testbed (ACT) Hand

Deshpande

Matsuoka

2014

Springer Tracts in Advanced Robotics

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We have built an Anatomically Correct Testbed (ACT) hand with the purpose of understanding the intrinsic biomechanical and control features of the human hands that are critical for achieving robust, versatile, and dexterous movements as well as object and world exploration. By mimicking the underlying mechanics and controls of the human hand in a hardware platform, our goal is to achieve previously unmatched grasping and manipulation capabilities. In this chapter we present distinguishing design philosophy and features of the ACT Hand compared to the existing robotic hands, and the details of the design and assembly of the finger bones, joints, tendons and actuators. We derive and analyze the unique muscle-to-joint relationships, called the moment arms, in the ACT Hand index finger, and present a software architecture for the control of the hand movement and forces by controlling the numerous muscle actuators. We also illustrate the grasping and manipulation abilities of the ACT Hand. The fully functional ACT Hand platform allows us to experiment with novel control algorithms to develop a deeper understanding of human dexterity.keywords Robotic hand Á Hand biomechanics Á Human-inspired design Á Hand control software Á Moment arm variations

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“…The PIP and DIP joints of the fingers are hinge joints capable of only flexion and extension, while the MCP are saddle joints and hence, capable of abduction and adduction motions as well. In [17] and [18] it is proposed that the CMC joint of the thumb is a 2 DoF one; however, in [19] it is considered to have axial rotation as well. Furthermore, [20] suggests that each of the fingers is defined by 5 DoF and 4 links, while the thumb by 4 DoF and 3 links.…”

Section: Mathematical Model Of a Human Handmentioning

confidence: 99%