Pinpointed Muscle Force Control Taking Into Account the Control DOF of Power-Assisting Device

2010 ◽  
Author(s):  
Ming Ding ◽  
Yuichi Kurita ◽  
Jun Ueda ◽  
Tsukasa Ogasawara
Keyword(s):  
Force Control ◽  
Muscle Force ◽  
Control Method ◽  
Senior Citizen ◽  
Past Research ◽  
Joint Torque ◽  
Rehabilitation Robots ◽  
Potential Applications ◽  
Assisting Device ◽  
And Training

The demand for rehabilitation robots is increasing for the upcoming aging society. Power-assisting devices are considered promising for enhancing the mobility of senior citizen and people with disability. Other potential applications are for muscle rehabilitation and sports training. Various power-assisting devices have been developed for supporting the human joint torque in factory. The main focus of our research is to propose a Pinpointed Muscle Force Control (PMFC) method to control the load of selected muscles by using power-assisting device, thus enabling pinpointed motion support, rehabilitation, and training by explicitly specifying the target muscles. In past research, we have made some achievements. However, using the past control method, all joint torque need to be controlled individually. Limited by the current technology, it is difficult to develop such power-assisting device. In this paper, we developed the muscle force control method by taking into account the control DOF of power-assisting device. Using this method, any existing power-assisting device can be used to realize PMFC, even if this device cannot control all joint torque individually. The validity of this advanced PMFC method and the effects from the control DOF are confirmed in simulation and experiments.

2A2-C09 Pinpointed muscle force control using a power-assisting device

2007 ◽  
Vol 2007 (0) ◽  
pp. _2A2-C09_1-_2A2-C09_4
Author(s):  
Ming Ding ◽  
Masahiro Kondo ◽  
Jun Ueda ◽  
Yoshio Matsumoto ◽  
Tsukasa Ogasawara
Keyword(s):  
Force Control ◽  
Muscle Force ◽  
Assisting Device

MF211 Feasibility of pinpointed muscle force control using a power-assisting device

2007 ◽  
Vol 2007 (0) ◽  
pp. 131-132
Author(s):  
Ming DING ◽  
Jun UEDA ◽  
Tsukasa OGASAWARA
Keyword(s):  
Force Control ◽  
Muscle Force ◽  
Assisting Device

FORCE CONTROL OF THE REDUNDANT LEG OF A BIPED ROBOT TO PRODUCE LARGE INERTIAL EFFECTS FOR CROSSING OBSTACLES

2012 ◽  
Vol 09 (01) ◽  
pp. 1250003 ◽  
Author(s):  
PAUL-FRANÇOIS DOUBLIEZ ◽  
OLIVIER BRUNEAU ◽  
FETHI BEN OUEZDOU
Keyword(s):  
Force Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Biped Robot ◽  
Servo Control ◽  
Joint Torque ◽  
Singular Case ◽  
Obstacle Crossing ◽  
Dynamic Obstacle ◽  
Three Degrees Of Freedom

This paper proposes an energy control method for dynamic obstacle crossing by a planar biped. This approach was tested in a simulation where it was found to enable the biped robot to cross obstacles of different heights, due to inertial forces, by leaning with the front foot on the obstacles. The propulsion energy of the system is produced by the rear leg, which is endowed with four actuated degrees-of-freedom (hip, knee, ankle, toes), and is controlled by force control with four degrees-of-freedom in the non-singular case, and three degrees-of-freedom in the singular case. This paper identifies ten geometric, energetic and servo-control parameters necessary for dynamic obstacle crossing. The methodology presented allowed the dynamic crossing of an obstacle up to 20 cm high, at which point the joint torque limit for the propelling ankle was reached.

Measurements and Potential Applications of Force-Control Method for Stick-Slip-Driven Nanohandling Robots

2011 ◽  
Vol 467-469 ◽  
pp. 1556-1561 ◽  
Author(s):  
Christoph Edeler
Keyword(s):  
Mobile Robots ◽  
Force Control ◽  
Control Method ◽  
The Other ◽  
Force Generation ◽  
Stick Slip ◽  
The Real ◽  
Other Hand ◽  
Potential Applications ◽  
Application Potential

This paper describes the transition of a recently invented force-generation method to mobile nanohandling robots and outlines future applications. The presented mobile nanohandling robot makes use of miniaturized, piezo-driven Stick-Slip actuators. This allows for very accurate and fast positioning. The drives are fully developed and have proven their performance in fast pickand- place applications. On the other hand, the mentioned force-generation method allows a Stick- Slip axis to exert a dedicated force to any object, which could be useful in many micro- and nanohandling scenarios. However, the method was tested yet only in a testbed similar to the conditions in the robot. Therefore this paper deals with the extrapolation of the results to the real conditions in the robots and discusses benefits and drawbacks. After an introduction of the robot and the force-generation method, measurements are presented and discussed. The paper ends with a sketch of a possible application, which could boost the application potential not only of such mobile robots, but of Stick-Slip-based setups in general.

scholarly journals Pinpointed Muscle Force Control Using a Power-assisting Device

2009 ◽  
Vol 27 (9) ◽  
pp. 1037-1045 ◽  
Author(s):  
Ming Ding ◽  
Jun Ueda ◽  
Tsukasa Ogasawara
Keyword(s):  
Force Control ◽  
Muscle Force ◽  
Assisting Device

Research on sports aided teaching and training decision system oriented to deep convolutional neural network

2021 ◽  
pp. 1-15
Author(s):  
Qinyu Mei ◽  
Ming Li
Keyword(s):  
Neural Network ◽  
Decision Making ◽  
Control System ◽  
Convolutional Neural Network ◽  
Force Control ◽  
Control Experiment ◽  
Deep Convolutional Neural Network ◽  
Flexible Cable ◽  
Cable Force ◽  
And Training

Aiming at the construction of the decision-making system for sports-assisted teaching and training, this article first gives a deep convolutional neural network model for sports-assisted teaching and training decision-making. Subsequently, In order to meet the needs of athletes to assist in physical exercise, a squat training robot is built using a self-developed modular flexible cable drive unit, and its control system is designed to assist athletes in squatting training in sports. First, the human squat training mechanism is analyzed, and the overall structure of the robot is determined; second, the robot force servo control strategy is designed, including the flexible cable traction force planning link, the lateral force compensation link and the establishment of a single flexible cable passive force controller; In order to verify the effect of robot training, a single flexible cable force control experiment and a man-machine squat training experiment were carried out. In the single flexible cable force control experiment, the suppression effect of excess force reached more than 50%. In the squat experiment under 200 N, the standard deviation of the system loading force is 7.52 N, and the dynamic accuracy is above 90.2%. Experimental results show that the robot has a reasonable configuration, small footprint, stable control system, high loading accuracy, and can assist in squat training in physical education.

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

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