Teleoperation of Pneumatic Artificial Muscles Based on Joint Stiffness of Master Device

마스터장치의 회전강성을 고려한 공압인공근육의 원격조정

  • 김령현 (한남대학교 기계공학과) ;
  • 강봉수 (한남대학교 기계공학과)
  • Received : 2013.08.05
  • Accepted : 2013.10.06
  • Published : 2013.12.01


This study proposes a wearable master device that can measure the joint stiffness and the angular displacement of a human operator to enhance the adapting capability of a slave system. A lightweight inertial sensor and the exoskeleton mechanism of the master device can make an operator feel comfortable, and artificial pneumatic muscles having a working principle similar to that of human muscles improve the performance of the slave device on emulating what a human operator does. Experimental results revealed that the proposed master/slave system based on the muscle stiffness sensor yielded uniform tracking performance compared with a conventional position-feedback controller when the payload applied to the slave system changed.


Teleoperation;Pneumatic Artificial Muscle;Antagonistic Actuation;Master/Slave


Supported by : 한남대학교


  1. Lee, S. and Lee, H.-S., 1993, "Modeling, Design, and Evaluation of Advanced Teleoperator Control Systems with Short Time Delay," IEEE Trans. on Robotics and Automation, Vol. 9, No. 5, pp. 607-623.
  2. Yokokohji, Y. and Yoshikawa, T., 1994, "Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling - Formulation and Experiment," IEEE Trans. on Robotics and Automation, Vol. 10, No. 5, pp. 605-619.
  3. Hashtrudi-Zaad, K. and Salcudean, S. E., 2002, "Bilateral Parallel Force/Position Teleoperation Control," Journal of Robotic Systems, Vol. 19, No. 4, pp. 155-167.
  4. Park, J. and Khatib, O., 2006, "A Haptic Tele Operation Approach Based on Contact Force Control," Int. Journal of Robotics Research, Vol. 25, No. 6, pp. 575-591.
  5. Tondu, B. and Lopez, P., 2000,"Modeling and Control of Mckibben Artificial Muscle Robot Actuators," IEEE Control Systems Magazine, Vol. 20, No. 2, pp. 15-38.
  6. Kang, B.-S., Kothera, C., Woods, B., Wereley, N., 2009, "Dynamic Modeling of Mckibben Pneumatic Artificial Muscles for Antagonistic Actuation," Proc. of IEEE Int. Conference on Robotics and Automation, pp. 182-187.
  7. Migliore, S. A., Brown, E. A. and DeWeerth, S. P., 2006, "Biologically Inspired Joint Stiffness Control," Proc. of IEEE Int. Conference on Robotics and Automation, pp. 4508-4513.
  8. Wolf, S. and Hirzinger, G., 2008, "A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation," Proc. of IEEE Int. Conference on Robotics and Automation, pp. 1741-1746.
  9. Bae, G. T., Song, J. B., Kim, B. S., Kim, T. K., 2011, "Comparison Between Strain Gauge Type MSS and Pneumatic Type MSS for a Wearable Robot," Proc. of KSPE Autumn Conference, pp. 245-246.
  10. Walker, D. S., Wilson, R. P. and Niemeyer, G., 2010, "User-Controlled Variable Impedance Tele Operation," Proc. of IEEE Int. Conference on Robotics and Automation, pp. 5352-5357.
  11. Sherwood, L., 2004, Human Physiology-From Cells to Systems- 5th Ed., Thomson Learning.