Abstract
The assistive rehabilitation devices have been studied for over half-century. However; Assistive as needed (AAN) devices are emergent robots to aid the patients based on their muscle capability. Exposure of the patients to these devices demands more understanding of the human impedance and torque modulation. This paper investigates the impedance modulation of human's elbow joint based on optimal control and Computed Muscle Control (CMC) of the human forearm musculoskeletal systems. The human elbow is modeled as a single degree-of-freedom (DOF) system with an intrinsic passive stiffness and damping. The OpenSim program is exploited to derive the muscle activation and generate the resultant torque of the effective muscles around the elbow joint. Forearm tracks a sinusoidal pattern in the simulation. The consequent torque interpreted by the optimal control solution of the system which opens a new horizon in the assimilation of the human intention angle and elbow impedance in a trade-off for accurate tracking and energy consumption.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 712-717 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781538660720 |
| DOIs | |
| Publication status | Published - Oct 5 2018 |
| Event | 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018 - Changchun, China Duration: Aug 5 2018 → Aug 8 2018 |
Conference
| Conference | 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018 |
|---|---|
| Country | China |
| City | Changchun |
| Period | 8/5/18 → 8/8/18 |
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ASJC Scopus subject areas
- Biomedical Engineering
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Mechanical Engineering
- Control and Optimization
Cite this
Optimal impedance modulation and intention angle of elbow assistive robots : Based on human musculoskeletal model. / Mosadeghzad, Mohamad; Fard, Behnam Miripour; Alizadeh, Tohid.
Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 712-717 8484409.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Optimal impedance modulation and intention angle of elbow assistive robots
T2 - Based on human musculoskeletal model
AU - Mosadeghzad, Mohamad
AU - Fard, Behnam Miripour
AU - Alizadeh, Tohid
PY - 2018/10/5
Y1 - 2018/10/5
N2 - The assistive rehabilitation devices have been studied for over half-century. However; Assistive as needed (AAN) devices are emergent robots to aid the patients based on their muscle capability. Exposure of the patients to these devices demands more understanding of the human impedance and torque modulation. This paper investigates the impedance modulation of human's elbow joint based on optimal control and Computed Muscle Control (CMC) of the human forearm musculoskeletal systems. The human elbow is modeled as a single degree-of-freedom (DOF) system with an intrinsic passive stiffness and damping. The OpenSim program is exploited to derive the muscle activation and generate the resultant torque of the effective muscles around the elbow joint. Forearm tracks a sinusoidal pattern in the simulation. The consequent torque interpreted by the optimal control solution of the system which opens a new horizon in the assimilation of the human intention angle and elbow impedance in a trade-off for accurate tracking and energy consumption.
AB - The assistive rehabilitation devices have been studied for over half-century. However; Assistive as needed (AAN) devices are emergent robots to aid the patients based on their muscle capability. Exposure of the patients to these devices demands more understanding of the human impedance and torque modulation. This paper investigates the impedance modulation of human's elbow joint based on optimal control and Computed Muscle Control (CMC) of the human forearm musculoskeletal systems. The human elbow is modeled as a single degree-of-freedom (DOF) system with an intrinsic passive stiffness and damping. The OpenSim program is exploited to derive the muscle activation and generate the resultant torque of the effective muscles around the elbow joint. Forearm tracks a sinusoidal pattern in the simulation. The consequent torque interpreted by the optimal control solution of the system which opens a new horizon in the assimilation of the human intention angle and elbow impedance in a trade-off for accurate tracking and energy consumption.
UR - http://www.scopus.com/inward/record.url?scp=85056341957&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85056341957&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2018.8484409
DO - 10.1109/ICMA.2018.8484409
M3 - Conference contribution
AN - SCOPUS:85056341957
SP - 712
EP - 717
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
ER -