TY - GEN
T1 - A bio-inspired control system for a wearable human-machine interface
AU - Folgheraiter, Michele
AU - Jordan, Mathias
AU - Albiez, Jan
AU - Kirchner, Frank
PY - 2012
Y1 - 2012
N2 - A control system is presented that integrates bio-inspired with classical control techniques to govern the forearm joint of a wearable haptic interface. The neural circuit is based on the architecture of the human segmental reflexes, and the neurons are represented by the combination of a first order linear differential equation and a sigmoid or a piecewise-linear activation function. Due to a long term adaptive mechanism that considers the state of the interface and the interaction force with the user, the stiffness of the joint is regulated according to the particular motion and task at hand. Experimental results showed that the proposed control architecture is able to improve the interface performances in terms of responsiveness, as well as to implement a safety behavior that intervenes in case of harmful external forces.
AB - A control system is presented that integrates bio-inspired with classical control techniques to govern the forearm joint of a wearable haptic interface. The neural circuit is based on the architecture of the human segmental reflexes, and the neurons are represented by the combination of a first order linear differential equation and a sigmoid or a piecewise-linear activation function. Due to a long term adaptive mechanism that considers the state of the interface and the interaction force with the user, the stiffness of the joint is regulated according to the particular motion and task at hand. Experimental results showed that the proposed control architecture is able to improve the interface performances in terms of responsiveness, as well as to implement a safety behavior that intervenes in case of harmful external forces.
KW - Bio-inspired Control System
KW - Human-Machine Interaction
KW - Stiffness Adaptation
KW - Wearable Exoskeletons
UR - http://www.scopus.com/inward/record.url?scp=84866010128&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866010128&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-33093-3_12
DO - 10.1007/978-3-642-33093-3_12
M3 - Conference contribution
AN - SCOPUS:84866010128
SN - 9783642330926
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 117
EP - 126
BT - From Animals to Animats 12 - 12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Proceedings
T2 - 12th International Conference on Simulation of Adaptive Behavior, SAB 2012
Y2 - 27 August 2012 through 30 August 2012
ER -