TY - GEN
T1 - End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy
AU - Tsuboi, Shoki
AU - Kino, Hitoshi
AU - Tahara, Kenji
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This study focuses on replicating the muscu-loskeletal system of human arms for mimicking its movement. Muscle redundancy is critical for regulating the mechanical impedance of arms and legs. However, when implementing muscle redundancy on robots, making an ill-posed problem that cannot determine the muscle forces uniquely. In this paper, first, a method for controlling end-point stiffness in the muscle space for the joint and muscle redundant system is described. Next, the muscle model imitating the nonlinear viscosity characteristic of human muscles is introduced. Then, a method to control the joint viscosity by adjusting the internal forces of muscles adequately without affecting the stiffness control directly is proposed. Finally, numerical simulations are performed to investigate the effectiveness of the proposed method.
AB - This study focuses on replicating the muscu-loskeletal system of human arms for mimicking its movement. Muscle redundancy is critical for regulating the mechanical impedance of arms and legs. However, when implementing muscle redundancy on robots, making an ill-posed problem that cannot determine the muscle forces uniquely. In this paper, first, a method for controlling end-point stiffness in the muscle space for the joint and muscle redundant system is described. Next, the muscle model imitating the nonlinear viscosity characteristic of human muscles is introduced. Then, a method to control the joint viscosity by adjusting the internal forces of muscles adequately without affecting the stiffness control directly is proposed. Finally, numerical simulations are performed to investigate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=85146325366&partnerID=8YFLogxK
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U2 - 10.1109/IROS47612.2022.9981712
DO - 10.1109/IROS47612.2022.9981712
M3 - Conference contribution
AN - SCOPUS:85146325366
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4997
EP - 5002
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Y2 - 23 October 2022 through 27 October 2022
ER -