A bio-inspired control system for a wearable human-machine interface

Michele Folgheraiter, Mathias Jordan, Jan Albiez, Frank Kirchner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationFrom Animals to Animats 12 - 12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Proceedings
Pages117-126
Number of pages10
DOIs
Publication statusPublished - Sep 14 2012
Event12th International Conference on Simulation of Adaptive Behavior, SAB 2012 - Odense, Denmark
Duration: Aug 27 2012Aug 30 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7426 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other12th International Conference on Simulation of Adaptive Behavior, SAB 2012
CountryDenmark
CityOdense
Period8/27/128/30/12

Keywords

  • Bio-inspired Control System
  • Human-Machine Interaction
  • Stiffness Adaptation
  • Wearable Exoskeletons

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Folgheraiter, M., Jordan, M., Albiez, J., & Kirchner, F. (2012). A bio-inspired control system for a wearable human-machine interface. In From Animals to Animats 12 - 12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Proceedings (pp. 117-126). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7426 LNAI). https://doi.org/10.1007/978-3-642-33093-3_12