Human Arm-Like Robot Control Based on Human Multi-Joint Arm Viscoelastic Properties and A Modified Forward Gaze Model

Abstract

In this paper, a human arm-like robot control scheme is proposed based on timevarying viscoelastic properties which consist of multi-joint stiffness and multi-joint viscosity during human arm movements and a modified forward gaze model. In general, in human multi-joint arm movements, the multi-joint torque is assumed to be a function of multi-joint stiffness matrix, multi-joint viscosity matrix, and motor command descending from central nervous system (CNS). In order to make the present human arm-like robot move like a human multi-joint arm, a feedback controller and a modified forward gaze model are presented in the human arm-like robot control system. That is, the feedback controller is designed to obtain desired motion mechanism based on real measured data from viscoelastic properties of human multi-joint arm, and the forward gaze model in which steering gains are modified using a cost function is used to compensate the term related to the effect of CNS. The effectiveness of the proposed method is confirmed by the simulation results based on experimental data.

Operator-Based Robust Nonlinear Control for a Manipulator with Human Multi-Joint Arm-Like Viscoelastic Properties

“…As a successive research, how to measure on-line timevarying human multi-joint arm viscoelasticity has been studied in [19]. To imitate the motion mechanism of the human multijoint arm, a control scheme to human arm-like robots based on viscoelastic properties of the human multi-joint arm and a forward gaze model has been proposed in [20], [21]. The forward gaze model was designed to compensate the term of the effect of CNS.…”