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http://dx.doi.org/10.3795/KSME-A.2013.37.12.1521

Teleoperation of Pneumatic Artificial Muscles Based on Joint Stiffness of Master Device  

Kim, Ryeong Hyeon (Dept. of Mechanical Engineering, Hannam Univ.)
Kang, Bong Soo (Dept. of Mechanical Engineering, Hannam Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.37, no.12, 2013 , pp. 1521-1527 More about this Journal
Abstract
This study proposes a wearable master device that can measure the joint stiffness and the angular displacement of a human operator to enhance the adapting capability of a slave system. A lightweight inertial sensor and the exoskeleton mechanism of the master device can make an operator feel comfortable, and artificial pneumatic muscles having a working principle similar to that of human muscles improve the performance of the slave device on emulating what a human operator does. Experimental results revealed that the proposed master/slave system based on the muscle stiffness sensor yielded uniform tracking performance compared with a conventional position-feedback controller when the payload applied to the slave system changed.
Keywords
Teleoperation; Pneumatic Artificial Muscle; Antagonistic Actuation; Master/Slave;
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