J1102-1-3 筋肉の粘弾性特性を再現した分数次微分を用いたインピーダンス制御([1102-1]ライフサポート(1))

Abstract

We reported a novel impedance control method based on a fractional calculation inspired by the viscoelastic properties of biomaterials such as muscle. This fractional impedance controller was found to realize superior impact absorption for the purpose of flexible contact for assistive and rehabilitation robots. This paper presents a preliminary evaluation of this concept using simulations. The numerical analysis results demonstrate that a fractional impedance controller has superior impact absorption performance than a conventional controller for contact with the elastic objects, especially for high stiffness objects and high velocity movement.