Imitation of human motion based on variable stiffness actuator and muscle stiffness sensor
A wearable robot is the robotic system capable of augmenting or amplifying the wearer's muscle strength. To imitate human arms, the recognition of muscle stiffness and the reflection of the motion are very important. In this paper, the upper limb of the wearer is bandaged with the pneumatic mus...
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| creator | Gang-Tae Bae Jae-Bok Song Byeong-Sang Kim |
| description | A wearable robot is the robotic system capable of augmenting or amplifying the wearer's muscle strength. To imitate human arms, the recognition of muscle stiffness and the reflection of the motion are very important. In this paper, the upper limb of the wearer is bandaged with the pneumatic muscle stiffness sensor (MSS), and the wearer's intention is estimated by recognizing the movement of the muscle. In addition, a variable stiffness actuator (VSA) is used to imitate the predicted motion of the wearer and simultaneously to unburden the weight by increasing its stiffness. It is shown that the proposed system is capable of distinguishing between the wearer's intention and the external load. |
| doi_str_mv | 10.1109/AIM.2013.6584227 |
| format | Conference Proceeding |
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To imitate human arms, the recognition of muscle stiffness and the reflection of the motion are very important. In this paper, the upper limb of the wearer is bandaged with the pneumatic muscle stiffness sensor (MSS), and the wearer's intention is estimated by recognizing the movement of the muscle. In addition, a variable stiffness actuator (VSA) is used to imitate the predicted motion of the wearer and simultaneously to unburden the weight by increasing its stiffness. 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To imitate human arms, the recognition of muscle stiffness and the reflection of the motion are very important. In this paper, the upper limb of the wearer is bandaged with the pneumatic muscle stiffness sensor (MSS), and the wearer's intention is estimated by recognizing the movement of the muscle. In addition, a variable stiffness actuator (VSA) is used to imitate the predicted motion of the wearer and simultaneously to unburden the weight by increasing its stiffness. It is shown that the proposed system is capable of distinguishing between the wearer's intention and the external load.</description><subject>Actuators</subject><subject>Exoskeletons</subject><subject>Force</subject><subject>Joints</subject><subject>Muscles</subject><subject>Robot sensing systems</subject><issn>2159-6247</issn><issn>2159-6255</issn><isbn>1467353191</isbn><isbn>9781467353199</isbn><isbn>9781467353205</isbn><isbn>1467353205</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2013</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkEtLw0AUhccXWGv2gpv5A6lz77w6y1KsBipudOOm3ExmcKRJJJMI_ntFi-DqfIcPzuIwdgViASDczap6WKAAuTB6qRDtESucXYIyVmqJQh-zGYJ2pUGtT9jFQYCD0z-h7Dkrcn4TQoBYakQ5Yy9Vm0YaU9_xPvLXqaWOt_1PrymHhn_DBw2J6n3geUwxdiFnTn6caOwHTl3D2yn7fzaHLvfDJTuLtM-hOOScPW9un9b35fbxrlqvtmUCq8cyoiTnZJTWmCY667VFL0OtgrdYOyGMsVFjgAZBNQa8VEROKW8FkEMt5-z6dzeFEHbvQ2pp-NwdbpJfqBxXcQ</recordid><startdate>201307</startdate><enddate>201307</enddate><creator>Gang-Tae Bae</creator><creator>Jae-Bok Song</creator><creator>Byeong-Sang Kim</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201307</creationdate><title>Imitation of human motion based on variable stiffness actuator and muscle stiffness sensor</title><author>Gang-Tae Bae ; Jae-Bok Song ; Byeong-Sang Kim</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-f23a993f3766df97c572c3eb4ec72b900667f52e1d214d61c34aa944c701a9253</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2013</creationdate><topic>Actuators</topic><topic>Exoskeletons</topic><topic>Force</topic><topic>Joints</topic><topic>Muscles</topic><topic>Robot sensing systems</topic><toplevel>online_resources</toplevel><creatorcontrib>Gang-Tae Bae</creatorcontrib><creatorcontrib>Jae-Bok Song</creatorcontrib><creatorcontrib>Byeong-Sang Kim</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Gang-Tae Bae</au><au>Jae-Bok Song</au><au>Byeong-Sang Kim</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Imitation of human motion based on variable stiffness actuator and muscle stiffness sensor</atitle><btitle>2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics</btitle><stitle>AIM</stitle><date>2013-07</date><risdate>2013</risdate><spage>1016</spage><epage>1020</epage><pages>1016-1020</pages><issn>2159-6247</issn><eissn>2159-6255</eissn><isbn>1467353191</isbn><isbn>9781467353199</isbn><eisbn>9781467353205</eisbn><eisbn>1467353205</eisbn><abstract>A wearable robot is the robotic system capable of augmenting or amplifying the wearer's muscle strength. To imitate human arms, the recognition of muscle stiffness and the reflection of the motion are very important. In this paper, the upper limb of the wearer is bandaged with the pneumatic muscle stiffness sensor (MSS), and the wearer's intention is estimated by recognizing the movement of the muscle. In addition, a variable stiffness actuator (VSA) is used to imitate the predicted motion of the wearer and simultaneously to unburden the weight by increasing its stiffness. It is shown that the proposed system is capable of distinguishing between the wearer's intention and the external load.</abstract><pub>IEEE</pub><doi>10.1109/AIM.2013.6584227</doi><tpages>5</tpages></addata></record> |
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| identifier | ISSN: 2159-6247 |
| ispartof | 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013, p.1016-1020 |
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| language | eng |
| recordid | cdi_ieee_primary_6584227 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Exoskeletons Force Joints Muscles Robot sensing systems |
| title | Imitation of human motion based on variable stiffness actuator and muscle stiffness sensor |
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