제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제5권8호
  • /
  • Pages.977-989
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  • 1999
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

여유구동을 지닌 인체의 능동스프링 현상에 대한 해석과 운동주파수 제어방식으로의 적용

Analysis on Active spring effect in human-body having redundant actuation with application to motion frequency

  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Yi, Byung-Ju (Dept. of Electronic Computer Engineering, Hanyang University)
  • 발행 : 1999.11.01
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초록

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

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참고문헌

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  29. 제어 · 자동화 · 시스템공학회 논문지 v.5 no.2 인체의 근육구조에 대한 해석과 가변스프링 메커니즘 설계로의 적용 이병주;이재훈;김희국