Skip to main content

Joint Stiffness and Position Control of an Artificial Muscle Manipulator for Instantaneous Loads Using a Mechanical Equilibrium Model

Buy Article:

$55.00 plus tax (Refund Policy)

Robots have become an integral part of human life, and the relationship between human and robots has grown closer. Thus, it is desirable for robots to have characteristics similar to those of humans. In this context, we paid attention to an artificial muscle actuator, and studied and developed straight-fiber-type artificial muscles derived from McKibben-type muscles, which have an excellent contraction rate and force characteristics. We developed a manipulator with 6-d.o.f. using artificial muscles as actuators and considered its position control. However, artificial muscle manipulators are susceptible to load torque because they do not use any gears and are flexible. Joint stiffness must increase because accurate position control of the artificial muscle is difficult. Stiffness control must respond quickly to achieve coordination with human activity; however, conventional stiffness control by torque-based methods depends on the position control response. Therefore, position and stiffness control need to be independent of each other. In this study, we propose a new method of joint stiffness control, which adds estimated stiffness to the torque-based method. In addition, we performed experiments examining the load response to steady-state and instantaneous loads.
No Reference information available - sign in for access.
No Citation information available - sign in for access.
No Supplementary Data.
No Data/Media
No Metrics


Document Type: Research Article

Affiliations: 1: Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan;, Email: [email protected] 2: Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

Publication date: 2011-02-01

  • Access Key
  • Free content
  • Partial Free content
  • New content
  • Open access content
  • Partial Open access content
  • Subscribed content
  • Partial Subscribed content
  • Free trial content
Cookie Policy
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more