Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System

Ryota Kurozumi; Toru Yamamoto; Shoichiro Fujisawa; Osamu Sueda

doi:10.20965/jrm.2009.p0156

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JRM Vol.21 No.1 pp. 156-163

doi: 10.20965/jrm.2009.p0156

(2009)

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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:

R. Kurozumi, T. Yamamoto, S. Fujisawa, and O. 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:

References

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[2] H. Yano, T. Masuda, Y. Nakajima, N. Tanaka, S. Tamefusa, H. Saitou, and H. Iwata, “Development of a Gait Rehabilitation System With a Spherical Immersive Projection Display,” Journal of Robotics and Mechatronics, Vol.20, No.6, 2008.
[3] K. Motoi, S. Tanaka, Y. Kuwae, T. Yuji, Y. Higashi, T. Fujimoto, and K. Yamakoshi, “Evaluation of a Wearable Sensor System Monitoring Posture Changes and Activities for Use in Rehabilitation,” Journal of Robotics and Mechatronics, Vol.19, No.6, 2007.
[4] http://www.mhlw.go.jp/english/topics/elderly/care/index.html
[5] N. Hogan, “Impedance Control: An Approach to Manipulation,” Trans. ASME, J. of Dynamic Systems Measurement and Control, Vol.107, No.1, pp. 1-24, 1985.
[6] M. Takaiwa and T. Noritsugu, “Development of Force Displaying Device Using Pneumatic Parallel Manipulator and Application to Palpation Motion,” Proc. of ICRA 2003, pp. 4098-4103.
[7] American College of Sports Medicine, “Guidelines for Graded Exercise Testing and Exercise Prescription,” 3rd Edition, Lea & Febiger, 1986.
[8] O. Tabata, S. Konishi, P. Cusin, Y. Ito, F. Kawai, S. Hirai, and S. Kawamura, “Microfabricated Tunable Bending Stiffness Device,” Proc. IEEE 13th Annual Int. Conf. on Micro Electro Mechinical Systems, pp. 23-27, Miyazaki, January, 2000.
[9] S. Hirai, T. Masui, and S. Kawamura, “Prototyping Pneumatic Group Actuators Composed of Multiple Single-motion Elastic Tubes,“ Proc. IEEE Int.Conf. on Robotics and Automation, Vol.4, pp. 3807-3812, Seoul, May, 2001.
[10] S. Hirai, K. Shimizu, and S. Kawamura, “Vision-based Motion Control of Pneumatic Group Actuators,” Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 2842-2847, Washington D.C., May, 2002.
[11] http://www.canpolar.com/principles.shtm
[12] T. Yamamoto, R. Kurozumi, and S. Fujisawa, “A Design of CMAC Based Intelligent PID Controllers,” Artificial Neural Networks and Neural Information Processing, LNCS 2714, Springer, pp. 471-478, 2003.
[13] K.L. Chien, J.A. Hrones, and J.B. Reswick, “On the automatic control of generalized passive systems,” Trans. ASME, Vol.74, pp. 175-185, 1972.
[14] J.S. Albus, “A new approach to manipulator control cerebellar model articulation control (CMAC),” Trans. on ASME, J. of Dynamic Systems, Measurement, and Control, Vol.97, No.9, pp. 220-227, 1975.
[15] J.E. Dayhoff, “Neural Network Architectures; An Introduction,” Van Nostrand Reinhold, New York, 1990.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Fujisawa, T. Kaneda, T. Nishi, N. Satonaka, T. Umemoto, T. Doi, T. Yoshida, R. Kurozumi, and Y. Suita, “Mechatronics Technology Which Assists Human Life From Nursing to Amusement,” Journal of Robotics and Mechatronics, Vol.13, No.1, pp. 42-49, 2001.

[2] [2] H. Yano, T. Masuda, Y. Nakajima, N. Tanaka, S. Tamefusa, H. Saitou, and H. Iwata, “Development of a Gait Rehabilitation System With a Spherical Immersive Projection Display,” Journal of Robotics and Mechatronics, Vol.20, No.6, 2008.

[3] [3] K. Motoi, S. Tanaka, Y. Kuwae, T. Yuji, Y. Higashi, T. Fujimoto, and K. Yamakoshi, “Evaluation of a Wearable Sensor System Monitoring Posture Changes and Activities for Use in Rehabilitation,” Journal of Robotics and Mechatronics, Vol.19, No.6, 2007.

[4] [4] http://www.mhlw.go.jp/english/topics/elderly/care/index.html

[5] [5] N. Hogan, “Impedance Control: An Approach to Manipulation,” Trans. ASME, J. of Dynamic Systems Measurement and Control, Vol.107, No.1, pp. 1-24, 1985.

[6] [6] M. Takaiwa and T. Noritsugu, “Development of Force Displaying Device Using Pneumatic Parallel Manipulator and Application to Palpation Motion,” Proc. of ICRA 2003, pp. 4098-4103.

[7] [7] American College of Sports Medicine, “Guidelines for Graded Exercise Testing and Exercise Prescription,” 3rd Edition, Lea & Febiger, 1986.

[8] [8] O. Tabata, S. Konishi, P. Cusin, Y. Ito, F. Kawai, S. Hirai, and S. Kawamura, “Microfabricated Tunable Bending Stiffness Device,” Proc. IEEE 13th Annual Int. Conf. on Micro Electro Mechinical Systems, pp. 23-27, Miyazaki, January, 2000.

[9] [9] S. Hirai, T. Masui, and S. Kawamura, “Prototyping Pneumatic Group Actuators Composed of Multiple Single-motion Elastic Tubes,“ Proc. IEEE Int.Conf. on Robotics and Automation, Vol.4, pp. 3807-3812, Seoul, May, 2001.

[10] [10] S. Hirai, K. Shimizu, and S. Kawamura, “Vision-based Motion Control of Pneumatic Group Actuators,” Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 2842-2847, Washington D.C., May, 2002.

[11] [11] http://www.canpolar.com/principles.shtm

[12] [12] T. Yamamoto, R. Kurozumi, and S. Fujisawa, “A Design of CMAC Based Intelligent PID Controllers,” Artificial Neural Networks and Neural Information Processing, LNCS 2714, Springer, pp. 471-478, 2003.

[13] [13] K.L. Chien, J.A. Hrones, and J.B. Reswick, “On the automatic control of generalized passive systems,” Trans. ASME, Vol.74, pp. 175-185, 1972.

[14] [14] J.S. Albus, “A new approach to manipulator control cerebellar model articulation control (CMAC),” Trans. on ASME, J. of Dynamic Systems, Measurement, and Control, Vol.97, No.9, pp. 220-227, 1975.

[15] [15] J.E. Dayhoff, “Neural Network Architectures; An Introduction,” Van Nostrand Reinhold, New York, 1990.

Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System

Ryota Kurozumi*, Toru Yamamoto**, Shoichiro Fujisawa***, and Osamu Sueda***

Ryota Kurozumi^, Toru Yamamoto^, Shoichiro Fujisawa^,
and Osamu Sueda^***