TY - GEN
T1 - Bilateral teleoperation system for a musculoskeletal robot arm using a musculoskeletal exoskeleton
AU - Chen, Xi
AU - Nishikawa, Satoshi
AU - Tanaka, Kazutoshi
AU - Niiyama, Ryuma
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - Musculoskeletal robots have several advantages in physical interactions. However, a method of teaching motion with physical interaction to a robot without the robot's model remains unavailable. Thus, we propose a bilateral teleoperation system for control of a musculoskeletal robot in this paper. This system enables an operator to operate the robot without the robot's model. The system includes a pneumatic musculoskeletal robot and pneumatic musculoskeletal exoskeleton with same joint and muscle composition. The operator wears the exoskeleton, feels the force that is exerted on the robot via the exoskeleton, and controls the robot by giving force to the exoskeleton. In the experiments, we found that the delay of this system is approximately 200 ms. Our system was able to give feedback force to the operator and change the magnitude of this force according to that of the external force. We showed that the operator can make the musculoskeletal robot perform a task with physical interaction with an environment using our systems. Thus, our system allows the operator to teach motion to a musculoskeletal robot with this interaction.
AB - Musculoskeletal robots have several advantages in physical interactions. However, a method of teaching motion with physical interaction to a robot without the robot's model remains unavailable. Thus, we propose a bilateral teleoperation system for control of a musculoskeletal robot in this paper. This system enables an operator to operate the robot without the robot's model. The system includes a pneumatic musculoskeletal robot and pneumatic musculoskeletal exoskeleton with same joint and muscle composition. The operator wears the exoskeleton, feels the force that is exerted on the robot via the exoskeleton, and controls the robot by giving force to the exoskeleton. In the experiments, we found that the delay of this system is approximately 200 ms. Our system was able to give feedback force to the operator and change the magnitude of this force according to that of the external force. We showed that the operator can make the musculoskeletal robot perform a task with physical interaction with an environment using our systems. Thus, our system allows the operator to teach motion to a musculoskeletal robot with this interaction.
UR - http://www.scopus.com/inward/record.url?scp=85049920465&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85049920465&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324833
DO - 10.1109/ROBIO.2017.8324833
M3 - Conference contribution
AN - SCOPUS:85049920465
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 2734
EP - 2739
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -