Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

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

마스터장치의 회전강성을 고려한 공압인공근육의 원격조정

  • Received : 2013.08.05
  • Accepted : 2013.10.06
  • Published : 2013.12.01
Download PDF
⟨ Previous Next ⟩

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.

본 논문에서는 마스터 조정자인 인간의 근육강도과 관절변위를 측정하여 슬레이브장치가 외부환경에 맞는 작업능력을 발휘할 수 있는 마스터/슬레이브 원격조정시스템을 제안한다. 외골격형 기구부와 경량의 관성센서를 사용하여 마스터 착용자의 편리성을 높였으며 인간의 근육과 동일한 운동특성을 가진 공압인공근육으로 슬레이브 기구장치를 구성하여 운동의 모사능력을 향상시켰다. 실험을 통해서 단순히 마스터의 위치정보만 전달하는 원격조정에 비해서 제안된 마스터는 인간 조정자가 근력의 세기를 조절함으로써 슬레이브에 작용하는 가반하중의 변화에 관계없이 균일한 제어성능을 가질 수 있었다.

Keywords

References

  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. https://doi.org/10.1109/70.258053
  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. https://doi.org/10.1109/70.326566
  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. https://doi.org/10.1002/rob.10030
  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. https://doi.org/10.1177/0278364906065385
  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.