2P1-E13 筋電位を用いた人間の関節剛性の推定と人工筋肉マニピュレータへの適用

概要

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A master-slave system has been used to operation a robot. This system is necessary to communicate human intentions to the robot. In this context, we focus on Myo-Electric(ME) potential. In many previous studies, a motor is used as an actuator, and the torque and position are estimated from the ME potential. However joint stiffness, which humans can change, is not considered. It is possible to solve this problem about the actuator by using the artificial muscle that we have studied, because the muscle can adjust joint stiffness. Therefore, it is necessary to estimate the joint stiffness of humans. In this study, we propose a method to estimate the stiffness of a human elbow. Furthermore, we apply our method to the 1-DOF manipulator of the artificial muscle.
一般社団法人日本機械学会の論文