Characterization of the NEURARM bio-inspired joint position and stiffness open loop controller

Nicola Vitiello, Tommaso Lenzi, Joseph McIntyre, Stefano Roccella, Emanuele Cattin, Fabrizio Vecchi, Maria Chiara Carrozza

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the characterization of the position and stiffness open loop controller for the NEURARM bio-inspired joint. A novel antagonistic non-linear actuation scheme is proposed for the NEURARM platform, a 2 DoF planar robotic arm that has been developed to imitate the principal functional features of the human arm for planar movements. The NEURARM joint has the actuation scheme based on a contractile element (a hydraulic piston) in series with a non-linear elastic element, able to mimic the force-elongation characteristic of the muscle-tendon complex. The non-linear spring is obtained by a linear tension spring rendered nonlinear by means of a specifically designed mechanism. Such actuation scheme allows the implementation of control strategies based on equilibrium point and impedance control hypotheses of human motor behavior. The preliminary results of the characterization of the open loop joint stiffness and position controller are presented.

Original languageEnglish
Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages138-143
Number of pages6
DOIs
Publication statusPublished - 2008
Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
Duration: Oct 19 2008Oct 22 2008

Other

Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CountryUnited States
CityScottsdale, AZ
Period10/19/0810/22/08

Keywords

  • Agonisticantagonistic actuation
  • Equilibrium point hypothesis
  • Neuro-robotics
  • Non-linear spring
  • Stiffness control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

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