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Novel reaction force control design based on bi-articular driving system using intrinsic muscle viscoelasticity

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3 Author(s)
Yasuto Kimura ; Department of Advanced Energy, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba, Japan ; Sehoon Oh ; Yoichi Hori

This paper suggests a novel reaction force control design of two-link manipulators based on a bi-articular driving system. Considering muscles' viscoelasticity, the animal link model can control its reaction force against ground surface using a position feedback without a force feedback. To verify this characteristic, we explain the model of muscle and the animal link model. And then, the analogy between the force generating mechanism of muscle and a two degrees of freedom control is shown, and the intrinsic reaction force control of bi-articular driving system based on a position feedback is suggested. Finally, simulation results ensure this characteristic.

Published in:

Mechatronics (ICM), 2011 IEEE International Conference on

Date of Conference:

13-15 April 2011