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JRM Vol.21 No.1 pp. 156-163
doi: 10.20965/jrm.2009.p0156
(2009)

Development Report:

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

Received:
March 12, 2008
Accepted:
December 12, 2008
Published:
February 20, 2009
Keywords:
multi-fingered robot hand, impedance control, massage, human skin muscle model
Abstract

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.

Cite this article as:
Ryota Kurozumi, Toru Yamamoto, Shoichiro Fujisawa, and
and Osamu Sueda, “Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System,” J. Robot. Mechatron., Vol.21, No.1, pp. 156-163, 2009.
Data files:
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