Author
Teramae, T., Ishihara, K., Babič, J., Morimoto, J., Öztop, Erhan
Publication Date
2018-11-06
Publication Place
-
Frontiers Media
Subject
Human in the loop control, Pneumatically actuated muscle, Biologically inspired multimodal control, Human motor learning, Electromyography
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1662-5218
Record ID
1652b3ae-1414-4436-9b09-19737412939d
Library Location
Computer Science
Date
2018-11-06
Notes
ImPACT of CSTI ; Commissioned Research of NICT, AMED ; Research and Development of Advanced Medical Devices and Systems to Achieve the future of Medicine from AMED ; JSPS KAKENHI ; NEDO ; Japan Trust ; EC FP7 Converge project ; EU ; JSPS ; Tateishi Science and Technology Foundation
Sample Text
Pneumatically actuated muscles (PAMs) provide a low cost, lightweight, and high power-To-weight ratio solution for many robotic applications. In addition, the antagonist pair configuration for robotic arms make it open to biologically inspired control approaches. In spite of these advantages, they have not been widely adopted in human-in-The-loop control and learning applications. In this study, we propose a biologically inspired multimodal human-in-The-loop control system for driving a one degree-of-freedom robot, and realize the task of hammering a nail into a wood block under human control. We analyze the human sensorimotor learning in this system through a set of experiments, and show that effective autonomous hammering skill can be readily obtained through the developed human-robot interface. The results indicate that a human-in-The-loop learning setup with anthropomorphically valid multi-modal human-robot interface leads to fast learning, thus can be used to effectively derive autonomous robot skills for ballistic motor tasks that require modulation of impedance.
Editör
Conradt, J.
DOI
10.3389/fnbot.2018.00071
Cilt
12
