In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible ...In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.展开更多
This paper considers dynamical systems under feedback with control actions limited toswitching.The authors wish to understand the closed-loop systems as approximating multi-scale problemsin which the implementation of...This paper considers dynamical systems under feedback with control actions limited toswitching.The authors wish to understand the closed-loop systems as approximating multi-scale problemsin which the implementation of switching merely acts on a fast scale.Such hybrid dynamicalsystems are extensively studied in the literature,but not much so far for feedback with partial stateobservation.This becomes in particular relevant when the dynamical systems are governed by partialdifferential equations.The authors introduce an augmented BV setting which permits recognition ofcertain fast scale effects and give a corresponding well-posedness result for observations with such minimalregularity.As an application for this setting,the authors show existence of solutions for systemsof semilinear hyperbolic equations under such feedback with pointwise observations.展开更多
文摘In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.
基金support of the Elite Network of Bavaria under the grant #K-NW-2004-143
文摘This paper considers dynamical systems under feedback with control actions limited toswitching.The authors wish to understand the closed-loop systems as approximating multi-scale problemsin which the implementation of switching merely acts on a fast scale.Such hybrid dynamicalsystems are extensively studied in the literature,but not much so far for feedback with partial stateobservation.This becomes in particular relevant when the dynamical systems are governed by partialdifferential equations.The authors introduce an augmented BV setting which permits recognition ofcertain fast scale effects and give a corresponding well-posedness result for observations with such minimalregularity.As an application for this setting,the authors show existence of solutions for systemsof semilinear hyperbolic equations under such feedback with pointwise observations.
