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Improvement of Control Performances of Rubber Artificial Muscle Manipulator and Its Application for Human-Robot Collaboration Task

Research Project

Project/Area Number 07650307
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionOkayama University

Principal Investigator

NORITSUGU Toshiro  Okayama University, Faculty of Engineering, Professor, 工学部, 教授 (70043726)

Co-Investigator(Kenkyū-buntansha) TAKAIWA Masahiro  Okayama University, Faculty of Engineering, Associate researcher, 工学部, 助手 (60243490)
Project Period (FY) 1995 – 1996
Project Status Completed (Fiscal Year 1996)
Budget Amount *help
¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 1996: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1995: ¥900,000 (Direct Cost: ¥900,000)
KeywordsRobot / Rubber Artificial Muscle / Pneumatic Servo / Human Collaboration Robot / Rehabilitation / Electric Rheological Fluid / Mechanical Impedance / Adaptive Control / ERダンパ
Research Abstract

A rubber artificial muscle is suitable for the human collaborating task owing to its essential features of flexibility. However, it is not easy to implement a satisfactory manipulation performance since its damping characteristic is not sufficient. Then an electric rheological damper (ER damper) whose damping characteristic can be regulated is attached to the manipulator's joint, which leads to a satisfactory control performances by applying an active control of pneumatic servo with a damping control using an ER damper.
At the same time, the rubber artificial muscle manipulator is applied to a function recovery training of human arms as a rehabilitation robot. Experiments results showed the effectiveness of a proposed unified implementation scheme for several function recovery training modes by using impedance control method. Also an identification method of characteristic of rehabilitant's arm was proposed for the purpose of a realization of an autonomous rehabilitation robot, in which characteristic of arm is estimated by the second order mechanical impedance model. Each parameter of the impedance model is identified using adaptive identifier at the same time with an implementation of a training manipulation. Consequently the recovery level can be estimated during the training manipulation simulataneously, which is expected to be an effective method to realize an autonomous rehabilitation robot.
Following two matters are left as a future work, one is how the identified parameters should be reflected on the function recovery training manipulation and the other is the development of constitution of human-robot collaboration system in order to unify the training manipulation with an identification one.

Report

(3 results)
  • 1996 Annual Research Report   Final Research Report Summary
  • 1995 Annual Research Report
  • Research Products

    (8 results)

All Other

All Publications (8 results)

  • [Publications] 則次,安藤,堂田,山中: "ゴム人工筋を用いたロボットマニピュレータの位置と力のハイブリッド制御" 日本機械学会論文集(C編). 61・586. 2483-2488 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] T.Noritsugu,F.Ando,S.Dohta,T.Yamanaka: "Hybrid-Type Position and Force Control of Robot Manipulator Using Artificial Rubber Muscle" Journal of Roboties and Mechatronics. 7・6. 436-442 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] T.Noritsugu,T.Tanaka,T.Yamanaka: "Application of Rubber Artificial Muscle Manipulator as a Rehabilitation Robot," Proc.5th IEEE International Workshop on Robot and Human Communication RO-MAN'96. 112-117 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] T.Noritsugu, F.Ando, S.Dohta, T.Yamanaka: "Hybrid-Type Position and Force Control of Robot Manipulator Using Artificial Rubber Muscle" Transaction of the Japan Society of Mechanical Engineers (C). 61-586. 2483-2488 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] T.Noritsugu, F.Ando, S.Dohta, T.Yamanaka: "Hybrid-Type Position and Force Control of Robot Manipulator Using Artificial Rubber Muscle" Journal of Robotics and Mechatronics. 7-6. 436-442 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] T.Noritsugu, T.Tanaka, T.Yamanaka: "Applicaton of Rubber Artificial Muscle Manipulator as a Rehabilitation Robot" Proc.of 5^<th> IEEE International Workshop on Robot and Human Communication RO-MAN'96. 112-117 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] T.Noritsugu etc.: "Application of Rubber Artificial Muscle Manipulator as a Rehabilitation Robot" Proceeding of 5th IEEE International Workshop on Robot and Human Communication. 112-117 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 則次俊郎: "ゴム人工筋を用いたリハビリテーション支援ロボット" 油圧と空気圧. 28・1. 29-34 (1997)

    • Related Report
      1996 Annual Research Report

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Published: 1995-04-01   Modified: 2016-04-21  

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