1A2-C14 筋電信号を用いた可変剛性関節の制御(リハビリテーションロボティクス・メカトロニクス(2))

Abstract

This paper describes a control system for variable stiffness joint (VSJ) to follow human dynamic arm motion. In VSJ, two different kinds of silicone rubber cushions are used to adjust joint stiffness by controlling the pressure in the cushions. In this study, we tried to estimate human joint stiffness during its motion based on electromyography signals in real-time. The estimated stiffness and the joint angle are inputted into a control system for VSJ to follow human joint motion reflecting its stiffness. We confirm the effectiveness of this control system through several experiments.