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 publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages117-126
Number of pages10
Volume7426 LNAI
DOIs
Publication statusPublished - 2012
Externally publishedYes
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)03029743
ISSN (Electronic)16113349

Other

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

Fingerprint

Biocontrol
Human-machine Interface
Control System
Haptic Interface
Haptic interfaces
Control systems
Activation Function
First order differential equation
Linear differential equation
Piecewise Linear
Linear Function
Neurons
Neuron
Stiffness
Differential equations
Safety
Chemical activation
Integrate
Motion
Networks (circuits)

Keywords

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

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Folgheraiter, M., Jordan, M., Albiez, J., & Kirchner, F. (2012). A bio-inspired control system for a wearable human-machine interface. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7426 LNAI, 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

A bio-inspired control system for a wearable human-machine interface. / Folgheraiter, Michele; Jordan, Mathias; Albiez, Jan; Kirchner, Frank.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7426 LNAI 2012. p. 117-126 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7426 LNAI).

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

Folgheraiter, M, Jordan, M, Albiez, J & Kirchner, F 2012, A bio-inspired control system for a wearable human-machine interface. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 7426 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 7426 LNAI, pp. 117-126, 12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense, Denmark, 8/27/12. https://doi.org/10.1007/978-3-642-33093-3_12
Folgheraiter M, Jordan M, Albiez J, Kirchner F. A bio-inspired control system for a wearable human-machine interface. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7426 LNAI. 2012. p. 117-126. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-642-33093-3_12
Folgheraiter, Michele ; Jordan, Mathias ; Albiez, Jan ; Kirchner, Frank. / A bio-inspired control system for a wearable human-machine interface. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7426 LNAI 2012. pp. 117-126 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
@inproceedings{5c48331a8b88415daf7375c6ec784bc6,
title = "A bio-inspired control system for a wearable human-machine interface",
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.",
keywords = "Bio-inspired Control System, Human-Machine Interaction, Stiffness Adaptation, Wearable Exoskeletons",
author = "Michele Folgheraiter and Mathias Jordan and Jan Albiez and Frank Kirchner",
year = "2012",
doi = "10.1007/978-3-642-33093-3_12",
language = "English",
isbn = "9783642330926",
volume = "7426 LNAI",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "117--126",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

}

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

SN - 9783642330926

VL - 7426 LNAI

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

SP - 117

EP - 126

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

ER -