Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System | Zendy

Ryota Kurozumi | Zendy; Toru Yamamoto | Zendy; Shoichiro Fujisawa | Zendy; Osamu Sueda | Zendy

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Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System

Author(s) -

Ryota Kurozumi,

Toru Yamamoto,

Shoichiro Fujisawa,

Osamu Sueda

Publication year - 2009

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2009.p0156

Subject(s) - actuator , cerebellar model articulation controller , pid controller , computer science , control theory (sociology) , nonlinear system , control system , impedance control , control engineering , controller (irrigation) , engineering , artificial intelligence , artificial neural network , control (management) , robot , temperature control , agronomy , physics , electrical engineering , quantum mechanics , biology

The training equipment we propose for persons with stiff or paralyzed hands. A balloon actuator-sensor system (BASS) adaptively control stiffness using an adaptive learning impedance controller. The highly compliant, flexible pneumatic actuator so useful in a human-machine system, however, is also nonlinear, making high-precision control difficult. We added cerebellar model articulation control, proportional integral derivative control (CMAC-PID) to overcome this advantage and evaluated BASS control in experiments.

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