Development of training equipment with an adaptive and learning mechanism using balloon actuator-sensor system

Author

Kurozumi, Ryota ; Yamamoto, Toru ; Fujisawa, Shoichiro ; Sueda, Osamu

Author_Institution

Hiroshima Univ., Hiroshima

fYear

2007

fDate

7-10 Oct. 2007

Firstpage

2624

Lastpage

2629

Abstract

This paper proposes training equipment using a balloon actuator-sensor system (BASS) for persons unable to move their hands because of injury or disease. BASS is able to control the stiffness adaptively using an adaptive learning impedance controller. The pneumatic actuator has excellent compliance and flexibility, which is good for a human-mechanical system. However, it is also nonlinear, hence high precision control is difficult. Therefore, a CMAC-PID control scheme is installed. Finally, the BASS control performance is evaluated in a control experiment.

Keywords

actuators; adaptive control; biomedical equipment; cerebellar model arithmetic computers; learning (artificial intelligence); patient rehabilitation; sensors; three-term control; BASS control; CMAC-PID control; adaptive learning impedance controller; adaptive mechanism; balloon actuator-sensor system; high precision control; human-mechanical system; learning mechanism; pneumatic actuator; training equipment development; Actuators; Adaptive control; Force sensors; Impedance; Learning systems; Medical control systems; Motion control; Muscles; Optical fiber devices; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on

Conference_Location

Montreal, Que.

Print_ISBN

978-1-4244-0990-7

Electronic_ISBN

978-1-4244-0991-4

Type

conf

DOI

10.1109/ICSMC.2007.4413932

Filename

4413932