Estimation of joint stiffness using EMG and application to master-slave system with an artificial muscle manipulator

Author

Maehara, M. ; Tanaka, D. ; Maeda, H. ; Nakamura, T.

Author_Institution

Dept. of Precision Mech., Chuo Univ., Tokyo, Japan

fYear

2010

fDate

13-15 Sept. 2010

Firstpage

743

Lastpage

748

Abstract

A master-slave system has been used to operate a robot. This system is necessary to communicate human intentions to the robot. In this context, we focus on Myo-Electric (ME) potential. In many previous studies, a motor is used as an actuator, and the torque and position are estimated from the ME potential. However joint stiffness, which humans can change, is not considered. It is possible to solve this problem about the actuator by using the artificial muscle that we have studied, because the muscle can adjust joint stiffness. Therefore, it is necessary to estimate the joint stiffness of humans. In this study, we propose a method to estimate the stiffness of a human elbow. Furthermore, we apply our method to the 1-DOF manipulator of the artificial muscle.

Keywords

artificial organs; electromyography; human-robot interaction; manipulators; medical robotics; 1-DOF manipulator; EMG; actuator; artificial muscle manipulator; human-robot interaction; joint stiffness estimation; master-slave system; myoelectric potential; position estimation; torque estimation; Electric potential; Electromyography; Humans; Joints; Manipulators; Muscles; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

RO-MAN, 2010 IEEE

Conference_Location

Viareggio

ISSN

1944-9445

Print_ISBN

978-1-4244-7991-7

Type

conf

DOI

10.1109/ROMAN.2010.5598703

Filename

5598703