筋肉の粘弾性特性を再現する分数次微分方程式を用いたインピーダンス制御  [in Japanese] Fractional Impedance Control for Reproducing the Material Properties of Muscle  [in Japanese]

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<p>近年, 筋肉の粘弾性特性は, Hill's model等で用いられていた弾性要素と粘性要素の組み合わせでは適切にモデル化できないことが指摘されており, より精度の高いモデリングとして, 分数次微分方程式を用いた手法が提案されている. 本研究では, 分数次微分方程式をインピーダンス制御に適用することで, 人間の持つ筋肉の粘弾性特性をロボットの動作として再現する試みを行った. 本論文では, 提案したインピーダンス制御が, 従来のインピーダンス制御と比較して, 衝撃的な力の上昇を生じにくく, 人間の行動への親和性に優れていることを数理シミュレーションおよび実験により実証した.</p>

<p>We reported a novel impedance control method based on a fractional calculation inspired by the viscoelastic properties of biomaterials such as muscle. The controller is based on the conventional impedance controller, except for the form of impedance. The form of impedance in the fractional controller is represented by a springpot model to reproduce the viscoelasticity of muscle. This paper presents a preliminary evaluation of this concept using simulations and experiments. The numerical analysis results demonstrate that a fractional impedance controller has superior impact absorption performance than a conventional controller for contact with the elastic objects, especially for high stiffness objects and high velocity movement. The numerical analysis also reveals that a fractional controller improved the robustness with respect to the robot dynamics. Moreover, the experimental results demonstrate that the fractional controller effectively suppresses the force between a person and a robot. The fractional impedance controller was found to realize superior impact absorption for the purpose of flexible contact. We expect a fractional controller to provide a greater advantage for rehabilitation robots.</p>

Journal

  • Biomechanisms

    Biomechanisms 21(0), 239-250, 2012

    Society of Biomechanisms

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