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Power assist robots are rising in interest for three main reasons. Power assist devices increase performances such as muscle strength and endurance for workers, wild land firefighters, and soldiers. Power assist devices support elderly and disabled people. Rehabilitation process and physical training carried out with the use of power assist devices have been shown to be faster, more intense, more motivational via audiovisual feedback and game mode, and easier reproducible do to quantitative outcome measurements. Although big progresses have been done in recent years, there are still three main challenging aspects where more investigation and innovative solutions are needed: safety for the user and the surrounding environment, a more comfortable interaction in a human-friendly way, increase in performances such as response, force production and energy efficiency. Most of the ongoing researches focus on mechanical and control design with a pure engineering approach, neglecting the inspiration from nature. Biologically inspired robotics is a process that goes beyond merely copying what nature shows at first sight. It involves three phases: observation and understanding nature, design robots embedding the desired nature functionalities, and finally implementation and development. Understanding humans and animal functionalities and the consequent implementation on robot applications has shown to improve robot performances such as robustness, safety, and flexibility in a variety of complex dynamic tasks. In order to improve performances of power assist robots, in this work biological motion control and actuation mechanism of humans and animals play the inspirational roles. Regarding the biological inspiration for motion control, humans and animals high vary impedance of their body to stabilize unstable dynamics. On the basis of this a new approach to force control for power assist devices -- Force Sensor-less Power Assist Control (FSPAC) with Variable Impedance -- is proposed. The proposed FSPAC with Variable Impedance is successfully implementation on an experimental door actuated by either a linear motor (low friction stem) or by a rotational motor and a balls-crew (high friction system). Comparison with traditional FSPAC is carried out. The superiority of the proposed FSPAC with Variable Impedance in respect to the traditional FPAC with Constant Impedance, in terms of safety, robustness and smooth assistance are experimentally shown. As for the biological inspiration for actuation mechanism design, humans and animals presents bi-articular muscles -- muscles that span joints -- which play a fundamental role for mechanical energy transfer, impedance modulation and stabilization of human and animal dynamics. In the design of bi-articularly actuated robots, our focus is on the resolution of the redundancy actuation. Two new approaches -- the Infinity Norm and the Non Linear Phase Different Control (NLPDC) -- are proposed. A human-like actuated robot named BiWi -- Bi-articularly actuated Wi-re driven robot arm -- is developed and used as an experimental apparatus to compare the two proposed redundancy resolution approach with the three traditional approaches -- Phase Different Control (PDC), Pseudo inverse matrix, and Linear Programming. The proposed infinity norm approach allows the arm to produce greater end effector force compared the traditional pseudo-inverse matrix approach. The proposed infinity norm approach is suitable to increase the performances of any system with three inputs and two outputs. The NLPDC approach increases the output force precision compared to the PDC approach, and requires less computation compared with the Linear Programming approach. 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Power Assist Robot Design Inspired by Biological Control and Actuation Mechanisms
https://doi.org/10.15083/00005481
https://doi.org/10.15083/00005481bfd61a82-89bf-4ffa-b2e6-0728cd9902a4
名前 / ファイル | ライセンス | アクション |
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37087296.pdf (9.9 MB)
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Item type | 学位論文 / Thesis or Dissertation(1) | |||||
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公開日 | 2014-02-24 | |||||
タイトル | ||||||
タイトル | Power Assist Robot Design Inspired by Biological Control and Actuation Mechanisms | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_46ec | |||||
タイプ | thesis | |||||
ID登録 | ||||||
ID登録 | 10.15083/00005481 | |||||
ID登録タイプ | JaLC | |||||
その他のタイトル | ||||||
その他のタイトル | 生物の制御と操作メカニズムに学ぶパワーアシストロボットの設計 | |||||
著者 |
Salvucci, Valerio
× Salvucci, Valerio |
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著者別名 | ||||||
識別子 | 11438 | |||||
識別子Scheme | WEKO | |||||
姓名 | サルブッチ, ヴァレリオ | |||||
著者所属 | ||||||
著者所属 | 東京大学大学院工学系研究科電気系工学専攻 | |||||
著者所属 | ||||||
著者所属 | Department of Electrical Engineering and Information Systems, Graduate School of Engineering, The University of Tokyo | |||||
Abstract | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | The objective of this work is to design new control strategies to improve safety, robustness, smoothness in human-robot interaction and performances such as speed response, maximum and precision end effector force production for power assist robots. Power assist robots are rising in interest for three main reasons. Power assist devices increase performances such as muscle strength and endurance for workers, wild land firefighters, and soldiers. Power assist devices support elderly and disabled people. Rehabilitation process and physical training carried out with the use of power assist devices have been shown to be faster, more intense, more motivational via audiovisual feedback and game mode, and easier reproducible do to quantitative outcome measurements. Although big progresses have been done in recent years, there are still three main challenging aspects where more investigation and innovative solutions are needed: safety for the user and the surrounding environment, a more comfortable interaction in a human-friendly way, increase in performances such as response, force production and energy efficiency. Most of the ongoing researches focus on mechanical and control design with a pure engineering approach, neglecting the inspiration from nature. Biologically inspired robotics is a process that goes beyond merely copying what nature shows at first sight. It involves three phases: observation and understanding nature, design robots embedding the desired nature functionalities, and finally implementation and development. Understanding humans and animal functionalities and the consequent implementation on robot applications has shown to improve robot performances such as robustness, safety, and flexibility in a variety of complex dynamic tasks. In order to improve performances of power assist robots, in this work biological motion control and actuation mechanism of humans and animals play the inspirational roles. Regarding the biological inspiration for motion control, humans and animals high vary impedance of their body to stabilize unstable dynamics. On the basis of this a new approach to force control for power assist devices -- Force Sensor-less Power Assist Control (FSPAC) with Variable Impedance -- is proposed. The proposed FSPAC with Variable Impedance is successfully implementation on an experimental door actuated by either a linear motor (low friction stem) or by a rotational motor and a balls-crew (high friction system). Comparison with traditional FSPAC is carried out. The superiority of the proposed FSPAC with Variable Impedance in respect to the traditional FPAC with Constant Impedance, in terms of safety, robustness and smooth assistance are experimentally shown. As for the biological inspiration for actuation mechanism design, humans and animals presents bi-articular muscles -- muscles that span joints -- which play a fundamental role for mechanical energy transfer, impedance modulation and stabilization of human and animal dynamics. In the design of bi-articularly actuated robots, our focus is on the resolution of the redundancy actuation. Two new approaches -- the Infinity Norm and the Non Linear Phase Different Control (NLPDC) -- are proposed. A human-like actuated robot named BiWi -- Bi-articularly actuated Wi-re driven robot arm -- is developed and used as an experimental apparatus to compare the two proposed redundancy resolution approach with the three traditional approaches -- Phase Different Control (PDC), Pseudo inverse matrix, and Linear Programming. The proposed infinity norm approach allows the arm to produce greater end effector force compared the traditional pseudo-inverse matrix approach. The proposed infinity norm approach is suitable to increase the performances of any system with three inputs and two outputs. The NLPDC approach increases the output force precision compared to the PDC approach, and requires less computation compared with the Linear Programming approach. Moreover, the NLPDC allows the independent design of common and different modes for robot arms actuated by three pairs of antagonistic actuators, consisting of four mono- and two bi-articular actuators couple in antagonistic pairs. In addition, the NLPDC approach is the only method capable of calculating in a precise way at the maximum output force that can be produce at the end effector of a bi-articularly actuated robot arm given the desired output force direction, with a closed form equation. | |||||
書誌情報 | 発行日 2011-09-27 | |||||
日本十進分類法 | ||||||
主題 | 548 | |||||
主題Scheme | NDC | |||||
学位名 | ||||||
学位名 | 博士(工学) | |||||
学位 | ||||||
値 | doctoral | |||||
学位分野 | ||||||
Engineering (工学) | ||||||
学位授与機関 | ||||||
学位授与機関名 | University of Tokyo (東京大学) | |||||
研究科・専攻 | ||||||
Department of Electrical Engineering and Information Systems, Graduate School of Engineering (工学系研究科電気系工学専攻) | ||||||
学位授与年月日 | ||||||
学位授与年月日 | 2011-09-27 | |||||
学位授与番号 | ||||||
学位授与番号 | 甲第27503号 | |||||
学位記番号 | ||||||
博工第7589号 |