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JRM Vol.14 No.3 pp. 270-277
doi: 10.20965/jrm.2002.p0270
(2002)

Paper:

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, 2002
Accepted:
March 29, 2002
Published:
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:
Toru Oshima, Tomohiko Fujikawa, and Minayori Kumamoto, “Coordination Control of Arm Using Antagonistic Actuators,” J. Robot. Mechatron., Vol.14, No.3, pp. 270-277, 2002.
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Last updated on Oct. 15, 2021