TY - GEN
T1 - Imitation of human motion based on variable stiffness actuator and muscle stiffness sensor
AU - Bae, Gang Tae
AU - Song, Jae Bok
AU - Kim, Byeong Sang
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84883691481&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84883691481&partnerID=8YFLogxK
U2 - 10.1109/AIM.2013.6584227
DO - 10.1109/AIM.2013.6584227
M3 - Conference contribution
AN - SCOPUS:84883691481
SN - 9781467353199
T3 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
SP - 1016
EP - 1020
BT - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
T2 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Y2 - 9 July 2013 through 12 July 2013
ER -