Development of BilateralWearable Device Kento for Control Robots Using Muscle-Actuator Modules

Kazuo Hongo; Yuto Nakanishi; Mariko Yoshida; Ikuo Mizuuchi; Masayuki Inaba

doi:10.20965/jrm.2010.p0308

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JRM Vol.22 No.3 pp. 308-314

doi: 10.20965/jrm.2010.p0308

(2010)

Paper:

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Development of BilateralWearable Device Kento for Control Robots Using Muscle-Actuator Modules

Kazuo Hongo^, Yuto Nakanishi^, Mariko Yoshida^,
Ikuo Mizuuchi^, and Masayuki Inaba^

^*Dept. of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

^**Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, Japan

^***Dept. of Creative Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:

September 30, 2009

Accepted:

February 15, 2010

Published:

June 20, 2010

Keywords:

master-slave control, wearable device, softness contactual bilateral control, tendon driven, stiffness adjustable mechanism

Abstract

The bilateral wearable device with stiffness-adjustable muscle-actuator modules we developed to control robots by sensing external force from them and teaching them movement for contact with their surroundings. Experiments confirmed that maneuvering a musculoskeletal humanoid fed back the humanoid’s force to a manipulator and its force feedback through bilateral control enabled the manipulator to engage in safe contact with its environment.

References

[1] T. Sakaguchi, T. Kanamori, H. Katayose, K. Sato, and S. Inokuchi, “Human Motion Capture by Integrating Gyroscopes and Accelerometer,” Proc. of 1996 IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp. 470-475, 1996.
[2] D. M. Gavrila, “The Visual Analysis of Human Movement: A Survey,” J. of Computer Vision and Image Understanding, Vol.73, No.1, pp. 82-98, 1999.
[3] S. Tachi, “Telexistence: Next-Generation Networked Robotics,” Ohmsha, Telecommunication, Teleimmersion and Telexistence II, pp. 3-38, 2005.
[4] I. Mizuuchi, Y. Nakanishi, Y. Sodeyama, Y. Namiki, T. Nishino, N. Muramatsu, J. Urata, K. Hongo, T. Yoshikai, and M. Inaba, “An Advanced Musculoskeletal Humanoid Kojiro,” Humanoids2007, pp. 294-299, 2007.
[5] H. Kawamoto and Y. Sankai, “Power Assist System HAL-3 for Gait Disorder Person,” Proc. of the 8th Int. Conf. on Computers Helping People with Special Needs, pp. 196-203, 2002.
[6] H. Kobayashi and H. Nozaki, “Development of Support System for Forward Tilting of the Upper Body,” Proc. of 2008 IEEE Int. Conf. on Mechatronics and Automation, WC3-1, 2008.
[7] K. Nakanishi, D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Wearable Master-Slave Device for Upper Limb constructed with Pneumatic Rubber Muscles,” RSJ08E, 3K1-03, 2008.
[8] I. Mizuuchi, T. Yoshikai, Y. Sodeyama, Y. Nakanishi, A. Miyadera, T. Yamamoto, T. Niemel, M. Hayashi, J. Urata, Y. Namiki, T. Nishino, and M. Inaba, “Development of Musculoskeletal Humanoid Kotaro,” Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, pp. 82-87, 2006.
[9] M. Yoshida, N. Muramatsu, I. Mizuuchi, and M. Inaba, “Design of the Compact Nonlinear Spring and Motor Unit for Adjustment of Stiffness,” ROBOMEC08E, 2A1-H12, 2008.
[10] H. Kobayashi and R. Ozawa, “Adaptive Neural Network Control of Tendon-Driven Mechanisms with Elastic Tendons,” Automatica, Vol.39, No.9, pp. 1509-1519, 2003.
[11] Y. Nakanishi, Y. Sodeyama, I. Mizuuchi, and M. Inaba, “Spherical Joint Pose Estimation Based on Redundant Muscles’ Length Displacement,” RSJ08E, 1I3-04, 2008.

[1] [1] T. Sakaguchi, T. Kanamori, H. Katayose, K. Sato, and S. Inokuchi, “Human Motion Capture by Integrating Gyroscopes and Accelerometer,” Proc. of 1996 IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp. 470-475, 1996.

[2] [2] D. M. Gavrila, “The Visual Analysis of Human Movement: A Survey,” J. of Computer Vision and Image Understanding, Vol.73, No.1, pp. 82-98, 1999.

[3] [3] S. Tachi, “Telexistence: Next-Generation Networked Robotics,” Ohmsha, Telecommunication, Teleimmersion and Telexistence II, pp. 3-38, 2005.

[4] [4] I. Mizuuchi, Y. Nakanishi, Y. Sodeyama, Y. Namiki, T. Nishino, N. Muramatsu, J. Urata, K. Hongo, T. Yoshikai, and M. Inaba, “An Advanced Musculoskeletal Humanoid Kojiro,” Humanoids2007, pp. 294-299, 2007.

[5] [5] H. Kawamoto and Y. Sankai, “Power Assist System HAL-3 for Gait Disorder Person,” Proc. of the 8th Int. Conf. on Computers Helping People with Special Needs, pp. 196-203, 2002.

[6] [6] H. Kobayashi and H. Nozaki, “Development of Support System for Forward Tilting of the Upper Body,” Proc. of 2008 IEEE Int. Conf. on Mechatronics and Automation, WC3-1, 2008.

[7] [7] K. Nakanishi, D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Wearable Master-Slave Device for Upper Limb constructed with Pneumatic Rubber Muscles,” RSJ08E, 3K1-03, 2008.

[8] [8] I. Mizuuchi, T. Yoshikai, Y. Sodeyama, Y. Nakanishi, A. Miyadera, T. Yamamoto, T. Niemel, M. Hayashi, J. Urata, Y. Namiki, T. Nishino, and M. Inaba, “Development of Musculoskeletal Humanoid Kotaro,” Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, pp. 82-87, 2006.

[9] [9] M. Yoshida, N. Muramatsu, I. Mizuuchi, and M. Inaba, “Design of the Compact Nonlinear Spring and Motor Unit for Adjustment of Stiffness,” ROBOMEC08E, 2A1-H12, 2008.

[10] [10] H. Kobayashi and R. Ozawa, “Adaptive Neural Network Control of Tendon-Driven Mechanisms with Elastic Tendons,” Automatica, Vol.39, No.9, pp. 1509-1519, 2003.

[11] [11] Y. Nakanishi, Y. Sodeyama, I. Mizuuchi, and M. Inaba, “Spherical Joint Pose Estimation Based on Redundant Muscles’ Length Displacement,” RSJ08E, 1I3-04, 2008.

Development of BilateralWearable Device Kento for Control Robots Using Muscle-Actuator Modules

Kazuo Hongo*, Yuto Nakanishi*, Mariko Yoshida*, Ikuo Mizuuchi**, and Masayuki Inaba***

Kazuo Hongo^, Yuto Nakanishi^, Mariko Yoshida^,
Ikuo Mizuuchi^, and Masayuki Inaba^