Analysis and implementation of a neuromuscular-like control for robotic compliance

Chi Haur Wu*, Kao Shing Hwang, Shih Lang Chang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Scopus citations

Abstract

In comparison with robot manipulators, primate limbs excel robots in facile movements requiring compliance control. Based on this fact, this paper will extend our findings in modeling the muscle-reflex mechanism of primate limbs to robotic control. After some salient properties of the neuromuscular system were identified, a neuromuscular-like model that can accurately emulate different involuntary and voluntary movements was developed. To link the findings from the biological system to robotic control, the developed neuromuscular-like controller was implemented on a PUMA 560 robot. The experimental results demonstrated that the emulated spindle-reflex model in the neuromuscular-like controller acts as an impedance to any changing displacement and will comply and enhance the needed compliant forces or torques for the changing motion. Due to this force-enhancement property, no external force sensor is required for sensing force feedback in this control. The capability in performing various free and constrained movements demonstrated that a neuromuscular-like control is very useful for robotic applications requiring adaptation.

Original languageEnglish (US)
Pages (from-to)586-597
Number of pages12
JournalIEEE Transactions on Control Systems Technology
Volume5
Issue number6
DOIs
StatePublished - Dec 1 1997

Keywords

  • Biological control systems
  • Biological system modeling
  • Control systems
  • Force control
  • Man-machine systems
  • Nonlinear systems
  • Robots
  • System analysis and design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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