Optimal impedance modulation and intention angle of elbow assistive robots: Based on human musculoskeletal model

Mohamad Mosadeghzad, Behnam Miripour Fard, Tohid Alizadeh

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

3 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages712-717
Number of pages6
ISBN (Electronic)9781538660720
DOIs
Publication statusPublished - Oct 5 2018
Event15th IEEE International Conference on Mechatronics and Automation, ICMA 2018 - Changchun, China
Duration: Aug 5 2018Aug 8 2018

Publication series

NameProceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018

Conference

Conference15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
CountryChina
CityChangchun
Period8/5/188/8/18

ASJC Scopus subject areas

  • Biomedical Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Mosadeghzad, M., Fard, B. M., & Alizadeh, T. (2018). Optimal impedance modulation and intention angle of elbow assistive robots: Based on human musculoskeletal model. In Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018 (pp. 712-717). [8484409] (Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2018.8484409