Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular   Muscles

Motoki Nakano; Takayuki Tanaka; Shun’ichi Kaneko

doi:10.20965/jrm.2013.p0145

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JRM Vol.25 No.1 pp. 145-152

doi: 10.20965/jrm.2013.p0145

(2013)

Paper:

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Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular Muscles

Motoki Nakano, Takayuki Tanaka, and Shun’ichi Kaneko

System Sensing Control Laboratory, Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan

Received:

March 22, 2012

Accepted:

June 28, 2012

Published:

February 20, 2013

Keywords:

musculoskeletal systems, biarticular muscles, power assist

Abstract

A number of studies have focused recently on the musculoskeletal systems of the human arm and foot with the support of human-machine systems. These studies aim to evaluate the performance of manipulators or analyze human characteristic. We focus on the fact that some postures reduce the effort necessary for the application of force from musculoskeletal systems. In this research, we apply the system to a power assist system. Using a musculoskeletal model, we propose the Compensation Considering Posture (CCP) method, which adjusts the assist ratio and consequently the applied force in accordance with the arm position of the operator. Then we apply it as a one link manipulator to a standard valve used in firefighting operations. In this regard, operation responsiveness changes when output force is reduced with the correct arm position. CCP improves valve maneuverability by providing additional assistance in such cases, and ensures that operation responsiveness is uniform regardless of arm position. To experimentally verify the proposedmethod, we firstmeasure the armposition of the operator in real time by using a musculoskeletal simulator. Next, we quantitatively defined the reduction of the output force according to the arm position as an output force level. Finally, we determine the appropriate amount of compensation by normalizing the force applied with the maximum output force level. The effectiveness of this method is experimentally confirmed using visual tracking.

Cite this article as:

M. Nakano, T. Tanaka, and S. Kaneko, “Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular Muscles,” J. Robot. Mechatron., Vol.25 No.1, pp. 145-152, 2013.

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References

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[2] G. J. van Ingen Schenau et al, “The unique action of bi-articular muscles in complex movement,” J. of Anatomy, Vol.155, pp. 1-5, 1987.
[3] R. Jacobs et al., “Control of an external force in leg extensions in humans,” J. of Physiology, Vol.457, pp. 611-626, 1992.
[4] Y. Kuniyoshi et al., “Musculoskeletal Robot with Anti-Gravity Muscle and Bi-Articular Muscle,” Robothics mechatronics 2005, Robomec2005, 2P1-N-046, 2005.
[5] T. Tsuji, “Motion control and musculo-skeletal model of a lancelet robot,” J. of the robotics society of japan, Vol.28, No.6, pp. 695-698, 2010.
[6] J. Mclntyre et al., “Servo Hypotheses for the Biological Control of Movement,” J. Motor Behavior, Vol.25, pp. 193-202, 1993.
[7] M. Kumamoto et al., “Control properties induced by the existence of anatagonistic pairs of bi-articular muscles – Mechanical engineering model analyses,” Human Movement Science, Vol.13, No.5, pp. 611-634, 1994.
[8] T. Oshima et al., “Output force distribution charasteristics of limbs by coordination of mono-articular and bi-articular muscles,” The Japan Society for Precision Engineering, Vol.73, No.4, pp. 492-497, 2007.
[9] T. Yoshikawa, “Dynamic Manipulability of Robot Manipulators,” J. of Robotic Systems, Vol.2, No.1, pp. 113-124, 1985.
[10] K. Yoshida et al., “Evaluation of Robot Arm Equipped with Biarticular Muscles by Extended Manipulability Measures,” Proc. of the Japan Industry Applications Society Conf., Vol.2, No.2, pp. 341-346, 2008.
[11] K. Yoshida et al., “Experimental Study on Static and Dynamic Properties of Robot Arm Equipped with Bi-articular Driving Mechanism,” The institute of electrical engineers of japan, IIC-08-113, 2008.
[12] T. Oshima et al., “Modeling of human musculoskeletal system and possibility of the application to rehabilitation,” The Japan Society for Precision Engineering, Vol.73, No.3, pp. 309-312, 2007.
[13] T. Tajima et al., “Effect of Improvement of Steering System of Vehicle based on Muscular Cooperated Control Model,” Institute of Biomechanical Control workshop, No.1, 2011.
[14] M. Nakano et al., “Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Times,” J. of Robotics and Mechatronics, Vol.21, No.5, pp. 628-634, 2009.
[15] M. Kumamoto et al., “Nikansetsukin (Biarticula muscles),” Igaku-Shoin, pp. 81-87, 2008.
[16] A. V. Hill, “The heat of shortening and the dynamic constants of muscle,” Proc. of the Royal Society of London, Series B, Biological Sciences, Vol.126, No.843, pp. 136-195, Oct. 10, 1938.
[17] T. Flash, “The Control of Hand Equilibrium Trajectories in Multi-Joint Arm Movement,” Biological Cybernetics, Vol.57, pp. 257-254, 1987.

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

[1] [1] Hogan et al., “Impedance Control (An approach to manipulation),” IEEE Trans. J. Dynamic Systems, Measurement, and Control, Vol.107, No.1, pp. 1-24, 1985.

[2] [2] G. J. van Ingen Schenau et al, “The unique action of bi-articular muscles in complex movement,” J. of Anatomy, Vol.155, pp. 1-5, 1987.

[3] [3] R. Jacobs et al., “Control of an external force in leg extensions in humans,” J. of Physiology, Vol.457, pp. 611-626, 1992.

[4] [4] Y. Kuniyoshi et al., “Musculoskeletal Robot with Anti-Gravity Muscle and Bi-Articular Muscle,” Robothics mechatronics 2005, Robomec2005, 2P1-N-046, 2005.

[5] [5] T. Tsuji, “Motion control and musculo-skeletal model of a lancelet robot,” J. of the robotics society of japan, Vol.28, No.6, pp. 695-698, 2010.

[6] [6] J. Mclntyre et al., “Servo Hypotheses for the Biological Control of Movement,” J. Motor Behavior, Vol.25, pp. 193-202, 1993.

[7] [7] M. Kumamoto et al., “Control properties induced by the existence of anatagonistic pairs of bi-articular muscles – Mechanical engineering model analyses,” Human Movement Science, Vol.13, No.5, pp. 611-634, 1994.

[8] [8] T. Oshima et al., “Output force distribution charasteristics of limbs by coordination of mono-articular and bi-articular muscles,” The Japan Society for Precision Engineering, Vol.73, No.4, pp. 492-497, 2007.

[9] [9] T. Yoshikawa, “Dynamic Manipulability of Robot Manipulators,” J. of Robotic Systems, Vol.2, No.1, pp. 113-124, 1985.

[10] [10] K. Yoshida et al., “Evaluation of Robot Arm Equipped with Biarticular Muscles by Extended Manipulability Measures,” Proc. of the Japan Industry Applications Society Conf., Vol.2, No.2, pp. 341-346, 2008.

[11] [11] K. Yoshida et al., “Experimental Study on Static and Dynamic Properties of Robot Arm Equipped with Bi-articular Driving Mechanism,” The institute of electrical engineers of japan, IIC-08-113, 2008.

[12] [12] T. Oshima et al., “Modeling of human musculoskeletal system and possibility of the application to rehabilitation,” The Japan Society for Precision Engineering, Vol.73, No.3, pp. 309-312, 2007.

[13] [13] T. Tajima et al., “Effect of Improvement of Steering System of Vehicle based on Muscular Cooperated Control Model,” Institute of Biomechanical Control workshop, No.1, 2011.

[14] [14] M. Nakano et al., “Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Times,” J. of Robotics and Mechatronics, Vol.21, No.5, pp. 628-634, 2009.

[15] [15] M. Kumamoto et al., “Nikansetsukin (Biarticula muscles),” Igaku-Shoin, pp. 81-87, 2008.

[16] [16] A. V. Hill, “The heat of shortening and the dynamic constants of muscle,” Proc. of the Royal Society of London, Series B, Biological Sciences, Vol.126, No.843, pp. 136-195, Oct. 10, 1938.

[17] [17] T. Flash, “The Control of Hand Equilibrium Trajectories in Multi-Joint Arm Movement,” Biological Cybernetics, Vol.57, pp. 257-254, 1987.