Assist control using EMG based optimal control approach for exoskeleton robot
| Project/Area Number |
26820090
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Advanced Telecommunications Research Institute International |
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Principal Investigator |
Teramae Tatsuya 株式会社国際電気通信基礎技術研究所, 脳情報通信総合研究所, 研究員 (60626828)
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2015: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2014: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | 最適制御 / 筋電位 / 外骨格ロボット / Assist-as-needed control / モデル予測制御 / EMGアシスト制御 / EMG / 人間機械系 / 制御システムの構築 / 2リンクロボットへの最適制御の適用 / 拮抗筋を考慮した最適制御の実装 |
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| Outline of Final Research Achievements |
Since, in human robot system, conventional assist control approach can not adapt to human activity change during task, we propose control method using EMG based optimal control approach to achieve controller that has robustness for change of human activity.
To verify control performance of proposed method, we set trajectory tracking task and 3 different conditions : Robot dominant, human dominant, human robot cooperation. In results, proposed method could stably achieve the task in 3 conditions , and tracking performance of proposed method was improved compared with conventional method. Moreover, proposed method could adapt to human activity when seamlessly changes during trial.
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Report
(4 results)
Research Products
(7 results)
