TY - GEN
T1 - Characterization of the NEURARM bio-inspired joint position and stiffness open loop controller
AU - Vitiello, Nicola
AU - Lenzi, Tommaso
AU - McIntyre, Joseph
AU - Roccella, Stefano
AU - Cattin, Emanuele
AU - Vecchi, Fabrizio
AU - Carrozza, Maria Chiara
PY - 2008
Y1 - 2008
N2 - This paper presents the characterization of the position and stiffness open loop controller for the NEURARM bio-inspired joint. A novel antagonistic non-linear actuation scheme is proposed for the NEURARM platform, a 2 DoF planar robotic arm that has been developed to imitate the principal functional features of the human arm for planar movements. The NEURARM joint has the actuation scheme based on a contractile element (a hydraulic piston) in series with a non-linear elastic element, able to mimic the force-elongation characteristic of the muscle-tendon complex. The non-linear spring is obtained by a linear tension spring rendered nonlinear by means of a specifically designed mechanism. Such actuation scheme allows the implementation of control strategies based on equilibrium point and impedance control hypotheses of human motor behavior. The preliminary results of the characterization of the open loop joint stiffness and position controller are presented.
AB - This paper presents the characterization of the position and stiffness open loop controller for the NEURARM bio-inspired joint. A novel antagonistic non-linear actuation scheme is proposed for the NEURARM platform, a 2 DoF planar robotic arm that has been developed to imitate the principal functional features of the human arm for planar movements. The NEURARM joint has the actuation scheme based on a contractile element (a hydraulic piston) in series with a non-linear elastic element, able to mimic the force-elongation characteristic of the muscle-tendon complex. The non-linear spring is obtained by a linear tension spring rendered nonlinear by means of a specifically designed mechanism. Such actuation scheme allows the implementation of control strategies based on equilibrium point and impedance control hypotheses of human motor behavior. The preliminary results of the characterization of the open loop joint stiffness and position controller are presented.
KW - Agonisticantagonistic actuation
KW - Equilibrium point hypothesis
KW - Neuro-robotics
KW - Non-linear spring
KW - Stiffness control
UR - https://www.scopus.com/pages/publications/63049116320
U2 - 10.1109/BIOROB.2008.4762817
DO - 10.1109/BIOROB.2008.4762817
M3 - Conference contribution
AN - SCOPUS:63049116320
SN - 9781424428830
T3 - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
SP - 138
EP - 143
BT - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
T2 - 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Y2 - 19 October 2008 through 22 October 2008
ER -