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

Mohamad Mosadeghzad; Behnam Miripour Fard; Tohid Alizadeh

doi:10.1109/ICMA.2018.8484409

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

Mohamad Mosadeghzad
, Behnam Miripour Fard
, Tohid Alizadeh

Hamedan University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 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 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	https://doi.org/10.1109/ICMA.2018.8484409
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

Publication series

Name	Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018

Conference

Conference	15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Country/Territory	China
City	Changchun
Period	8/5/18 → 8/8/18

Funding

This work is supported by the internal Social Policy Grant of Nazarbayev University.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

ASJC Scopus subject areas

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

Access to Document

10.1109/ICMA.2018.8484409

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). Article 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

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 (Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Mosadeghzad, M, Fard, BM & 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., 8484409, Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018, Institute of Electrical and Electronics Engineers Inc., pp. 712-717, 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018, Changchun, China, 8/5/18. https://doi.org/10.1109/ICMA.2018.8484409

Mosadeghzad M, Fard BM, Alizadeh T. 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. Institute of Electrical and Electronics Engineers Inc. 2018. p. 712-717. 8484409. (Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018). doi: 10.1109/ICMA.2018.8484409

Mosadeghzad, Mohamad ; Fard, Behnam Miripour ; Alizadeh, Tohid. / Optimal impedance modulation and intention angle of elbow assistive robots : Based on human musculoskeletal model. Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 712-717 (Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018).

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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.",

author = "Mohamad Mosadeghzad and Fard, \{Behnam Miripour\} and Tohid Alizadeh",

note = "Funding Information: This work is supported by the internal Social Policy Grant of Nazarbayev University. Publisher Copyright: {\textcopyright} 2018 IEEE.; 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018 ; Conference date: 05-08-2018 Through 08-08-2018",

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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.

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

Abstract

Publication series

Conference

Funding

UN SDGs

ASJC Scopus subject areas

Access to Document

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