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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

Abstract

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.

Keywords

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

Acknowledgement

Supported by : 한남대학교

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