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Coordination Control of Arm Using Antagonistic Actuators
Toru Oshima*, Tomohiko Fujikawa** and Minayori Kumamoto***
*Department of Mechanical Systems Engineering, Faculty of Engineering, Toyama Prefectural University, Kurogawa 5180, Kosugi, Toyama, 939-0398, Japan
**Department of Electronic Control Engineering, Toyama National College of Maritime Technology, Ebie Neriya 1-2, Sinminato, Toyama, 933-0293, Japan
***Laboratory of Image Information Science and Technology, Hongo 5-26-4, Bunkyo, Tokyo, 113-0033, Japan
Received:March 18, 2002Accepted:March 29, 2002Published:June 20, 2002
Keywords:robot arm, bi-articular muscle, mono-articular muscle, force control, neural network model
Abstract
In a mechanical joint drive used in robot arms, 1 actuator drives each joint. To drive joints in musculoskeletal animal limbs, in which skeletal muscles are used as actuators, a pair of bi-articular muscles drives 2 joints simultaneously in addition to a pair of monoarticular muscles for driving 1 joint. In our study, the mutual coordination of antagonistic mono-articular and antagonistic bi-articular muscles in in the horizontal arm plane were examined using electromyogram, results were analyzed by a mechanical 2-joint link model, and the relationship between the pattern of coordination of antagonistic muscles and output force generated by the arm clarified. A neural network model that generates the pattern of coordination was proposed to clarify the difference between conventional robots and animals in the force control mode for limbs.
Cite this article as:T. Oshima, T. Fujikawa, and M. Kumamoto, “Coordination Control of Arm Using Antagonistic Actuators,” J. Robot. Mechatron., Vol.14 No.3, pp. 270-277, 2002.Data files:
Copyright© 2002 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
