Mechanical stiffness control for antagonistically driven joints
Mechanical stiffness control for antagonistically driven joints
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DOI：
10.1109/iros.2005.1545354
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发表时间：
2005-12
期刊：
影响因子：
--
通讯作者：
K. Koganezawa
中科院分区：
文献类型：
--
作者：
K. Koganezawa
研究了多自由度关节的机械刚度控制问题。它从根本上模仿了人类关节的骨骼-肌肉系统，其中至少两块肌肉在它们的对抗作用下合作处理一个自由度。在本文的第一部分中，我们描述了一种新型的执行器，称为ANLES（非线性弹性系统执行器），它在具有非线性弹性的意义上模仿骨骼肌。下一个介绍了一个基本的公式，用于控制关节的刚度，以及它的角度使用多个ANLESes。通过仿真分析对所提出的公式进行了评价。由六根或八根肌腱操纵的三自由度关节分别由ANLES控制，对其刚度控制进行了评估。
This paper deals with mechanical stiffness control of multi-DOF joint. It fundamentally mimics skeleton-muscular system of human articulation, in which at least two muscles cooperatively handle one DOF under their antagonistic action. In the first part of the paper one describes a novel actuator called ANLES (actuator with non-linear elastic system) that mimics a skeletal muscle in the sense of having a non-linear elasticity. Next one introduces a basic formula for controlling stiffness of the joint as well as its angles using multiple ANLESes. It follows the evaluation of the proposed formula by the simulation analysis. Three DOF joint manipulated by six or eight tendons that are individually controlled by the ANLES is evaluated with respect to the stiffness control.