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Novel equilibrium-point control of agonist-antagonist system with pneumatic artificial muscles: II. Application to EMG-based human-machine interface for an elbow-joint system

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6 Author(s)
Ariga, Y. ; Dept. of Mech. Sci. & Bioeng., Osaka Univ., Toyonaka, Japan ; Maeda, D. ; Pham, H.T.T. ; Uemura, M.
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This paper presents an electromyographic-based human-machine interface for the agonist-antagonist system with two pairs of pneumatic artificial muscles (PAMs) that replicates the human elbow-joint system. We introduce the novel concepts of agonist-antagonist muscle-pair ratio (A-A ratio) and agonist-antagonist muscle-pair activity (A-A activity) to link the human muscle system to the PAM system, and we propose a linear control method translating the equilibrium point of human muscle system into that of PAM system. The human-robot experiment demonstrates the validity of the proposed method.

Published in:

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Date of Conference:

7-12 Oct. 2012