| Presentation | 2011-12-20 Flexible physical interaction based on control of the stiffness ellipse at the end effector by a musculoskeletal robotic arm : An application of an electromagnetic linear actuator Yoshihiro NAKATA, Atsuhiro IDE, Yutaka NAKAMURA, Katsuhiro HIRATA, Hiroshi ISHIGURO, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Development of mechanisms for robots in daily life to realize safe human-robot interaction is important issue of robotics. Humans have two important mechanisms to move in various environments while coping with unexpected disturbances. One is the compliance of muscles, and the other is the biarticular muscle. The compliance of muscles enables humans to respond to external forces flexibly. The biarticular muscle is a muscle which actuates two adjacent joints at the same time, modifying the effect of external forces on the whole body by changing its stiffness. These mechanisms seem to be necessary to realize human like flexible motion. In this research, electromagnetic linear actuators are used as artificial muscles, because it is easy to implement multi-articular muscles and they can change the impedance characteristics by controlling their output force. We show the effect of biarticular muscles for the controlling of the stiffness ellipse at the end effector and develop a robotic arm with 3 actuators. The robot can change the stiffness ellipse by controlling the stiffness coefficient of each actuator and perform reaching tasks. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Biarticular muscle / Electromagnetic linear actuator / Human-robot interaction / Robotic arm / Stiffness ellipse |
| Paper # | NC2011-96 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2011/12/13(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Flexible physical interaction based on control of the stiffness ellipse at the end effector by a musculoskeletal robotic arm : An application of an electromagnetic linear actuator |
| Sub Title (in English) | |
| Keyword(1) | Biarticular muscle |
| Keyword(2) | Electromagnetic linear actuator |
| Keyword(3) | Human-robot interaction |
| Keyword(4) | Robotic arm |
| Keyword(5) | Stiffness ellipse |
| 1st Author's Name | Yoshihiro NAKATA |
| 1st Author's Affiliation | Graduate School of Engineering Science, Osaka University() |
| 2nd Author's Name | Atsuhiro IDE |
| 2nd Author's Affiliation | Graduate School of Engineering Science, Osaka University |
| 3rd Author's Name | Yutaka NAKAMURA |
| 3rd Author's Affiliation | Graduate School of Engineering Science, Osaka University |
| 4th Author's Name | Katsuhiro HIRATA |
| 4th Author's Affiliation | Graduate School of Engineering, Osaka University |
| 5th Author's Name | Hiroshi ISHIGURO |
| 5th Author's Affiliation | Graduate School of Engineering Science, Osaka University |
| Date | 2011-12-20 |
| Paper # | NC2011-96 |
| Volume (vol) | vol.111 |
| Number (no) | 368 |
| Page | pp.pp.- |
| #Pages | 6 |
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