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Improvement of Control Performances of Rubber Artificial Muscle Manipulator and Its Application for Human-Robot Collaboration Task

橡胶人工肌肉机械手控制性能的改进及其在人机协作任务中的应用

基本信息

批准号：
07650307
负责人：
NORITSUGU Toshiro
金额：
$ 1.34万
依托单位：
Okayama University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

项目摘要

A rubber artificial muscle is suitable for the human collaborating task owing to its essential features of flexibility. However, it is not easy to implement a satisfactory manipulation performance since its damping characteristic is not sufficient. Then an electric rheological damper (ER damper) whose damping characteristic can be regulated is attached to the manipulator's joint, which leads to a satisfactory control performances by applying an active control of pneumatic servo with a damping control using an ER damper.At the same time, the rubber artificial muscle manipulator is applied to a function recovery training of human arms as a rehabilitation robot. Experiments results showed the effectiveness of a proposed unified implementation scheme for several function recovery training modes by using impedance control method. Also an identification method of characteristic of rehabilitant's arm was proposed for the purpose of a realization of an autonomous rehabilitation robot, in which characteristic of arm is estimated by the second order mechanical impedance model. Each parameter of the impedance model is identified using adaptive identifier at the same time with an implementation of a training manipulation. Consequently the recovery level can be estimated during the training manipulation simulataneously, which is expected to be an effective method to realize an autonomous rehabilitation robot.Following two matters are left as a future work, one is how the identified parameters should be reflected on the function recovery training manipulation and the other is the development of constitution of human-robot collaboration system in order to unify the training manipulation with an identification one.

橡胶人工肌肉由于其柔性的基本特征而适合于人类的协作任务。然而，由于其阻尼特性不充分，因此不容易实现令人满意的操纵性能。然后在机械臂关节处附加阻尼特性可调的电流变阻尼器，将气动伺服主动控制与电流变阻尼器阻尼控制相结合，获得了满意的控制效果，同时将橡胶人工肌肉机械臂作为康复机器人应用于人体手臂功能恢复训练。实验结果表明，提出的阻抗控制方法对多种功能恢复训练模式的统一实现方案是有效的。为了实现自主康复机器人，提出了一种康复者手臂特性的辨识方法，其中手臂特性由二阶机械阻抗模型估计。阻抗模型的每个参数被识别使用自适应识别器在同一时间与一个训练操作的实施。因此，可以在训练操作的同时估计康复水平，这有望成为实现自主康复机器人的有效方法。一是识别出的参数应如何反映在功能恢复训练操作中，二是人的体质发展-机器人协作系统，以统一的训练操作与识别。