Imitation of human motion based on variable stiffness actuator and muscle stiffness sensor

Gang Tae Bae, Jae Bok Song, Byeong Sang Kim

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

3 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Subtitle of host publicationMechatronics for Human Wellbeing, AIM 2013
Pages1016-1020
Number of pages5
DOIs
Publication statusPublished - 2013
Event2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW, Australia
Duration: 2013 Jul 92013 Jul 12

Publication series

Name2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013

Other

Other2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
CountryAustralia
CityWollongong, NSW
Period13/7/913/7/12

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Bae, G. T., Song, J. B., & Kim, B. S. (2013). Imitation of human motion based on variable stiffness actuator and muscle stiffness sensor. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 (pp. 1016-1020). [6584227] (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013). https://doi.org/10.1109/AIM.2013.6584227