Title :
Development of a postural supporting device using an adaptive and learning balloon actuator-sensor system
Author :
Kurozumi, Ryota ; Yamamoto, Toru ; Fujisawa, Shoichiro ; Sueda, Osamu
Author_Institution :
Univ. of Tokushima, Tokushima
Abstract :
In this paper, a postural supporting device using a balloon actuator-sensor system (BASS) is proposed for the person with disability who is unable to move their body because of injury or disease. The BASS is able to control the position and stiffness adaptively using an adaptive learning impedance controller. The pneumatic actuator has excellent compliance and flexibility, therefore that is good for the human-mechanical system. However, it also has nonlinearity, hence high precision control is difficult. Therefore, in this paper, the CMAC-PID control scheme is installed. The control performance of the BASS is evaluated by the control experiment.
Keywords :
adaptive control; cerebellar model arithmetic computers; handicapped aids; pneumatic actuators; three-term control; CMAC-PID control; adaptive balloon actuator-sensor system; adaptive learning impedance controller; cerebellar model arithmetic computer; human-mechanical system; learning balloon actuator-sensor system; pneumatic actuator; postural supporting device; precision control; Actuators; Adaptive control; Displacement measurement; Force sensors; Impedance; Light emitting diodes; Medical control systems; Motion control; Optical fiber sensors; Programmable control; aaa;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421033
