Bilateral teleoperation system for a musculoskeletal robot arm using a musculoskeletal exoskeleton

Xi Chen, Satoshi Nishikawa, Kazutoshi Tanaka, Ryuma Niiyama, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Musculoskeletal robots have several advantages in physical interactions. However, a method of teaching motion with physical interaction to a robot without the robot's model remains unavailable. Thus, we propose a bilateral teleoperation system for control of a musculoskeletal robot in this paper. This system enables an operator to operate the robot without the robot's model. The system includes a pneumatic musculoskeletal robot and pneumatic musculoskeletal exoskeleton with same joint and muscle composition. The operator wears the exoskeleton, feels the force that is exerted on the robot via the exoskeleton, and controls the robot by giving force to the exoskeleton. In the experiments, we found that the delay of this system is approximately 200 ms. Our system was able to give feedback force to the operator and change the magnitude of this force according to that of the external force. We showed that the operator can make the musculoskeletal robot perform a task with physical interaction with an environment using our systems. Thus, our system allows the operator to teach motion to a musculoskeletal robot with this interaction.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2734-2739
Number of pages6
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - Mar 23 2018
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: Dec 5 2017Dec 8 2017

Publication series

Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume2018-January

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
CountryChina
CityMacau
Period12/5/1712/8/17

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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