Name
Title | ||
|---|---|---|
Development of Power-Assist Robot Arm using pneumatic rubbermuscles with a balloon sensor |
Abstract | ||
|---|---|---|
The present paper describes a power-assist robot arm that uses pneumatic artificial rubber muscles (PARMs) covered with exoskeleton suits to mimic the motion of biarticular muscles. One robot arm uses a single PARM, which assists the wrist and elbow joint of the user. This robot arm is linked to a waist belt through a suspender-like structure of three PARMs. PI control (Proportional Integral control), which is based on the pressure value from a balloon sensor, is used to achieve accurate power-assist motion, and the present study focuses on the motions associated with lifting an object. In order to evaluate the validity of the proposed power-assist robot arm, skin surface electromyography (EMG) signals of forearm muscles are measured during a lifting task and a follow-up questionnaire survey is conducted. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROMAN.2009.5326335 | RO-MAN |
Keywords | Field | DocType |
pi control,suspender-like structure,prosthetics,balloon sensor,forearm muscles,power-assist motion,power-assist robot arm,biarticular muscles,proportional integral control,electromyography,manipulators,pneumatic artificial rubber muscles,skin surface electromyography signals,pneumatic control equipment,questionnaire survey,robot arm | Computer vision,Robotic arm,Elbow,Wrist,Simulation,Computer science,Balloon,Electromyography,Forearm,Exoskeleton,Artificial intelligence | Conference |
ISSN | ISBN | Citations |
1944-9445 E-ISBN : 978-1-4244-5081-7 | 978-1-4244-5081-7 | 4 |
PageRank | References | Authors |
0.83 | 5 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kazuo Kadota | 1 | 8 | 1.39 |
| Masao Akai | 2 | 8 | 1.39 |
| Kenji Kawashima | 3 | 72 | 10.24 |
| Toshiharu Kagawa | 4 | 6 | 4.77 |