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Design of physical user$2013robot interactions for model identification of soft actuators on exoskeleton robots
http://hdl.handle.net/10061/0002000127
http://hdl.handle.net/10061/0002000127bb11d809-65d5-4e2b-9ea2-467426817529
| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||||||
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| 公開日 | 2024-02-16 | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Design of physical user$2013robot interactions for model identification of soft actuators on exoskeleton robots | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Soft actuators | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | exoskeleton robots | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | physical human$2013robot interactions | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | human-in-the-loop | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Gaussian process | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | active learning | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ | journal article | |||||||||||||
| アクセス権 | ||||||||||||||
| アクセス権 | open access | |||||||||||||
| 著者 |
Hamaya, Masashi
× Hamaya, Masashi
× 松原, 崇充× Teramae, Tatsuya
× Noda, Tomoyuki
× Morimoto, Jun
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | Recent breakthroughs in wearable robots, such as exoskeleton robots with soft actuators and soft exosuits, have enabled the use of safe and comfortable movement assistance. However, modeling and identification methods for soft actuators used in wearable robots have yet to be sufficiently explored. In this study, we propose a novel approach for obtaining accurate soft actuator models through the design of physical user$2013robot interactions for wearable robots, in which the user applies external forces to the robot. To obtain an accurate soft actuator model from the limited amount of data acquired through an interaction, we leverage an active learning framework based on Gaussian process regression. We conducted experiments using a two-degree-of-freedom upper-limb exoskeleton robot with four pneumatic artificial muscles (PAMs). Experimental results showed that physical interactions between the exoskeleton robot and the user were successfully designed to allow PAM models to be identified. Furthermore, we found that data acquired through an interaction could result in more accurate soft actuator models for the exoskeleton robots than data acquired without a physical interaction between the exoskeleton robot and the user. | |||||||||||||
| 書誌情報 |
en : The International Journal of Robotics Research 巻 40, 号 1, p. 397-410, 発行日 2019-06-06 |
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| 出版者 | ||||||||||||||
| 出版者 | SAGE Publications | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 1741-3176 | |||||||||||||
| 出版者版DOI | ||||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.1177/0278364919853618 | |||||||||||||
| 出版者版URI | ||||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||||
| 識別子タイプ | URI | |||||||||||||
| 関連識別子 | https://journals.sagepub.com/doi/10.1177/0278364919853618 | |||||||||||||
| 権利 | ||||||||||||||
| 権利情報Resource | https://creativecommons.org/licenses/by-nc/4.0/ | |||||||||||||
| 権利情報 | $00A9 The Author(s) 2019. https://creativecommons.org/licenses/by-nc/4.0/ | |||||||||||||
| 著者版フラグ | ||||||||||||||
| 出版タイプ | NA | |||||||||||||
