High bandwidth attitude control based on musculoskeletal system with biarticular muscles

Author

Tsuji, Takao ; Yokoo, T. ; Sakaino, Sho

Author_Institution

Grad. Sch. of Sci. & Eng., Saitama Univ., Saitama, Japan

fYear

2012

fDate

25-28 Oct. 2012

Firstpage

5428

Lastpage

5433

Abstract

It is a quite wondering fact that all land animals and humans have biarticular muscles although the extra biarticular mechanism seems unnecessary in engineering view. This research investigates the contribution of biarticular muscles in living organisms to the attitude control. A method of angular stiffness calculation is proposed and the maximum angular stiffness of each musculoskeletal model is estimated based on the method. It is shown that the model with biarticular muscles can set higher angular stiffness without increasing the total mass of actuators. Furtheremore, experimental results show that control bandwidth is extended due to the high stiffness property.

Keywords

attitude control; biomechanics; bone; elastic constants; estimation theory; medical robotics; muscle; pneumatic actuators; angular stiffness calculation; biarticular muscles; estimation theory; extrabiarticular mechanism; high-bandwidth attitude control; living organisms; maximum angular stiffness; medical robotics; musculoskeletal system; pneumatic actuators; total actuator mass; Animals; Delay; Humans; Muscles; Robots; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Montreal, QC

ISSN

1553-572X

Print_ISBN

978-1-4673-2419-9

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2012.6388955

Filename

6388955