Joint stiffness tuning of exoskeleton robot H2 by tacit learning

Shingo Shimoda; Álvaro Costa; Guillermo Asin Prieto; Shotaro Okajima; Eduardo Ináez; Yasuhisa Hasegawa; Jose M. Azor In; Jose L Pons; Juan C. Moreno

doi:10.1007/978-3-319-24917-9_15

Joint stiffness tuning of exoskeleton robot H2 by tacit learning

Shingo Shimoda^*, Álvaro Costa, Guillermo Asin Prieto, Shotaro Okajima, Eduardo Ináez, Yasuhisa Hasegawa, Jose M. Azor In, Jose L Pons, Juan C. Moreno

^*Corresponding author for this work

Physical Medicine and Rehabilitation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Joint stiffness of the exoskeleton robot is one of the most important factors to support bipedal walking. In this paper, we discuss the robot joint stiffness tuning algorithm using the bio-mimetic learning method called tacit learning. We experimentally showed that the pro- posed controller can tune the joint stiffness of the exoskeleton robot by tuning the integral gain in the controller. The walking experiment wear- ing the exoskeleton robot suggest that the stiffness tuning is applicable to control the walking speed.

Original language	English (US)
Title of host publication	Symbiotic Interaction - 4th International Workshop, Symbiotic 2015, Proceedings
Editors	Jonathan Freeman, Anna Spagnolli, Benjamin Blankertz, Giulio Jacucci, Luciano Gamberini, Anna Spagnolli
Publisher	Springer Verlag
Pages	134-138
Number of pages	5
ISBN (Print)	9783319249162
DOIs	https://doi.org/10.1007/978-3-319-24917-9_15
State	Published - 2015
Event	4th International Workshop on Symbiotic Interaction, Symbiotic 2015 - Berlin, Germany Duration: Oct 7 2015 → Oct 8 2015

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9359
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	4th International Workshop on Symbiotic Interaction, Symbiotic 2015
Country/Territory	Germany
City	Berlin
Period	10/7/15 → 10/8/15

Keywords

Exoskeleton robot
Tacit learning
Walking support

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-319-24917-9_15

Cite this

Shimoda, S., Costa, Á., Prieto, G. A., Okajima, S., Ináez, E., Hasegawa, Y., Azor In, J. M., Pons, J. L., & Moreno, J. C. (2015). Joint stiffness tuning of exoskeleton robot H2 by tacit learning. In J. Freeman, A. Spagnolli, B. Blankertz, G. Jacucci, L. Gamberini, & A. Spagnolli (Eds.), Symbiotic Interaction - 4th International Workshop, Symbiotic 2015, Proceedings (pp. 134-138). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9359). Springer Verlag. https://doi.org/10.1007/978-3-319-24917-9_15

Shimoda, Shingo ; Costa, Álvaro ; Prieto, Guillermo Asin et al. / Joint stiffness tuning of exoskeleton robot H2 by tacit learning. Symbiotic Interaction - 4th International Workshop, Symbiotic 2015, Proceedings. editor / Jonathan Freeman ; Anna Spagnolli ; Benjamin Blankertz ; Giulio Jacucci ; Luciano Gamberini ; Anna Spagnolli. Springer Verlag, 2015. pp. 134-138 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Joint stiffness tuning of exoskeleton robot H2 by tacit learning",

abstract = "Joint stiffness of the exoskeleton robot is one of the most important factors to support bipedal walking. In this paper, we discuss the robot joint stiffness tuning algorithm using the bio-mimetic learning method called tacit learning. We experimentally showed that the pro- posed controller can tune the joint stiffness of the exoskeleton robot by tuning the integral gain in the controller. The walking experiment wear- ing the exoskeleton robot suggest that the stiffness tuning is applicable to control the walking speed.",

keywords = "Exoskeleton robot, Tacit learning, Walking support",

author = "Shingo Shimoda and {\'A}lvaro Costa and Prieto, {Guillermo Asin} and Shotaro Okajima and Eduardo In{\'a}ez and Yasuhisa Hasegawa and {Azor In}, {Jose M.} and Pons, {Jose L} and Moreno, {Juan C.}",

note = "Publisher Copyright: {\textcopyright}Springer International Publishing Switzerland 2015; 4th International Workshop on Symbiotic Interaction, Symbiotic 2015 ; Conference date: 07-10-2015 Through 08-10-2015",

year = "2015",

doi = "10.1007/978-3-319-24917-9_15",

language = "English (US)",

isbn = "9783319249162",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "134--138",

editor = "Jonathan Freeman and Anna Spagnolli and Benjamin Blankertz and Giulio Jacucci and Luciano Gamberini and Anna Spagnolli",

booktitle = "Symbiotic Interaction - 4th International Workshop, Symbiotic 2015, Proceedings",

}

Shimoda, S, Costa, Á, Prieto, GA, Okajima, S, Ináez, E, Hasegawa, Y, Azor In, JM, Pons, JL & Moreno, JC 2015, Joint stiffness tuning of exoskeleton robot H2 by tacit learning. in J Freeman, A Spagnolli, B Blankertz, G Jacucci, L Gamberini & A Spagnolli (eds), Symbiotic Interaction - 4th International Workshop, Symbiotic 2015, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9359, Springer Verlag, pp. 134-138, 4th International Workshop on Symbiotic Interaction, Symbiotic 2015, Berlin, Germany, 10/7/15. https://doi.org/10.1007/978-3-319-24917-9_15

Joint stiffness tuning of exoskeleton robot H2 by tacit learning. / Shimoda, Shingo; Costa, Álvaro; Prieto, Guillermo Asin et al.
Symbiotic Interaction - 4th International Workshop, Symbiotic 2015, Proceedings. ed. / Jonathan Freeman; Anna Spagnolli; Benjamin Blankertz; Giulio Jacucci; Luciano Gamberini; Anna Spagnolli. Springer Verlag, 2015. p. 134-138 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9359).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Joint stiffness tuning of exoskeleton robot H2 by tacit learning

AU - Shimoda, Shingo

AU - Costa, Álvaro

AU - Prieto, Guillermo Asin

AU - Okajima, Shotaro

AU - Ináez, Eduardo

AU - Hasegawa, Yasuhisa

AU - Azor In, Jose M.

AU - Pons, Jose L

AU - Moreno, Juan C.

N1 - Publisher Copyright: ©Springer International Publishing Switzerland 2015

PY - 2015

Y1 - 2015

N2 - Joint stiffness of the exoskeleton robot is one of the most important factors to support bipedal walking. In this paper, we discuss the robot joint stiffness tuning algorithm using the bio-mimetic learning method called tacit learning. We experimentally showed that the pro- posed controller can tune the joint stiffness of the exoskeleton robot by tuning the integral gain in the controller. The walking experiment wear- ing the exoskeleton robot suggest that the stiffness tuning is applicable to control the walking speed.

AB - Joint stiffness of the exoskeleton robot is one of the most important factors to support bipedal walking. In this paper, we discuss the robot joint stiffness tuning algorithm using the bio-mimetic learning method called tacit learning. We experimentally showed that the pro- posed controller can tune the joint stiffness of the exoskeleton robot by tuning the integral gain in the controller. The walking experiment wear- ing the exoskeleton robot suggest that the stiffness tuning is applicable to control the walking speed.

KW - Exoskeleton robot

KW - Tacit learning

KW - Walking support

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AN - SCOPUS:84951123285

SN - 9783319249162

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 134

EP - 138

BT - Symbiotic Interaction - 4th International Workshop, Symbiotic 2015, Proceedings

A2 - Freeman, Jonathan

A2 - Spagnolli, Anna

A2 - Blankertz, Benjamin

A2 - Jacucci, Giulio

A2 - Gamberini, Luciano

A2 - Spagnolli, Anna

PB - Springer Verlag

T2 - 4th International Workshop on Symbiotic Interaction, Symbiotic 2015

Y2 - 7 October 2015 through 8 October 2015

ER -

Shimoda S, Costa Á, Prieto GA, Okajima S, Ináez E, Hasegawa Y et al. Joint stiffness tuning of exoskeleton robot H2 by tacit learning. In Freeman J, Spagnolli A, Blankertz B, Jacucci G, Gamberini L, Spagnolli A, editors, Symbiotic Interaction - 4th International Workshop, Symbiotic 2015, Proceedings. Springer Verlag. 2015. p. 134-138. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-24917-9_15

Joint stiffness tuning of exoskeleton robot H2 by tacit learning

Abstract

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Keywords

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