Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System
Ryota Kurozumi*, Toru Yamamoto**, Shoichiro Fujisawa***,
and Osamu Sueda***
*JST, ERATO, Maenaka Human-Sensing Fusion Project, 2167 Shosha, Himeji, Hyogo 671-2280, Japan
**Graduate School of Education, Hiroshima University, 1-1-1, Kagamiyama, Higashi-Hiroshima, Hiroshima, Japan
***Faculty of Engineering, University of Tokushima, 2-1, Minamijyosanjima, Tokushima, Tokushima, Japan
The training equipment we propose for persons with stiff or paralyzed hands. A balloon actuator-sensor system (BASS) adaptively control stiffness using an adaptive learning impedance controller. The highly compliant, flexible pneumatic actuator so useful in a human-machine system, however, is also nonlinear, making high-precision control difficult. We added cerebellar model articulation control, proportional integral derivative control (CMAC-PID) to overcome this advantage and evaluated BASS control in experiments.
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