Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity

Yasuto Kimura; Sehoon Oh; Yoichi Hori

doi:10.1109/ICMECH.2011.5971226

Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity

Yasuto Kimura, Sehoon Oh, Yoichi Hori

Department of Robotics and Mechatronics Engineering

The University of Tokyo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

This paper suggests a novel reaction force control design of two-link manipulators based on a bi-articular driving system. Considering muscles' viscoelasticity, the animal link model can control its reaction force against ground surface using a position feedback without a force feedback. To verify this characteristic, we explain the model of muscle and the animal link model. And then, the analogy between the force generating mechanism of muscle and a two degrees of freedom control is shown, and the intrinsic reaction force control of bi-articular driving system based on a position feedback is suggested. Finally, simulation results ensure this characteristic

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages	815-820
Number of pages	6
DOIs	https://doi.org/10.1109/ICMECH.2011.5971226
State	Published - 2011
Event	2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey Duration: 13 Apr 2011 → 15 Apr 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Conference

Conference	2011 IEEE International Conference on Mechatronics, ICM 2011
Country/Territory	Turkey
City	Istanbul
Period	13/04/11 → 15/04/11

Keywords

bi-articular muscle
nonlinear feedback
reaction force
two-degree-of-freedom control
two-link manipulator

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10.1109/ICMECH.2011.5971226

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Kimura, Y., Oh, S., & Hori, Y. (2011). Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity. In 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings (pp. 815-820). Article 5971226 (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings). https://doi.org/10.1109/ICMECH.2011.5971226

@inproceedings{73a93ea0e247466d8a7edcf1407eef4c,

title = "Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity",

abstract = "This paper suggests a novel reaction force control design of two-link manipulators based on a bi-articular driving system. Considering muscles' viscoelasticity, the animal link model can control its reaction force against ground surface using a position feedback without a force feedback. To verify this characteristic, we explain the model of muscle and the animal link model. And then, the analogy between the force generating mechanism of muscle and a two degrees of freedom control is shown, and the intrinsic reaction force control of bi-articular driving system based on a position feedback is suggested. Finally, simulation results ensure this characteristic",

keywords = "bi-articular muscle, nonlinear feedback, reaction force, two-degree-of-freedom control, two-link manipulator",

author = "Yasuto Kimura and Sehoon Oh and Yoichi Hori",

year = "2011",

doi = "10.1109/ICMECH.2011.5971226",

language = "English",

isbn = "9781612849836",

series = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",

pages = "815--820",

booktitle = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",

note = "2011 IEEE International Conference on Mechatronics, ICM 2011 ; Conference date: 13-04-2011 Through 15-04-2011",

}

Kimura, Y, Oh, S & Hori, Y 2011, Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity. in 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings., 5971226, 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings, pp. 815-820, 2011 IEEE International Conference on Mechatronics, ICM 2011, Istanbul, Turkey, 13/04/11. https://doi.org/10.1109/ICMECH.2011.5971226

Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity. / Kimura, Yasuto; Oh, Sehoon; Hori, Yoichi.
2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. p. 815-820 5971226 (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity

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N2 - This paper suggests a novel reaction force control design of two-link manipulators based on a bi-articular driving system. Considering muscles' viscoelasticity, the animal link model can control its reaction force against ground surface using a position feedback without a force feedback. To verify this characteristic, we explain the model of muscle and the animal link model. And then, the analogy between the force generating mechanism of muscle and a two degrees of freedom control is shown, and the intrinsic reaction force control of bi-articular driving system based on a position feedback is suggested. Finally, simulation results ensure this characteristic

AB - This paper suggests a novel reaction force control design of two-link manipulators based on a bi-articular driving system. Considering muscles' viscoelasticity, the animal link model can control its reaction force against ground surface using a position feedback without a force feedback. To verify this characteristic, we explain the model of muscle and the animal link model. And then, the analogy between the force generating mechanism of muscle and a two degrees of freedom control is shown, and the intrinsic reaction force control of bi-articular driving system based on a position feedback is suggested. Finally, simulation results ensure this characteristic

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KW - nonlinear feedback

KW - reaction force

KW - two-degree-of-freedom control

KW - two-link manipulator

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T3 - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

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BT - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

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Y2 - 13 April 2011 through 15 April 2011

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Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity

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