Development of a postural supporting device using an adaptive and learning balloon actuator-sensor system

Author

Kurozumi, Ryota ; Yamamoto, Toru ; Fujisawa, Shoichiro ; Sueda, Osamu

Author_Institution

Univ. of Tokushima, Tokushima

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

488

Lastpage

493

Abstract

In this paper, a postural supporting device using a balloon actuator-sensor system (BASS) is proposed for the person with disability who is unable to move their body because of injury or disease. The BASS is able to control the position and stiffness adaptively using an adaptive learning impedance controller. The pneumatic actuator has excellent compliance and flexibility, therefore that is good for the human-mechanical system. However, it also has nonlinearity, hence high precision control is difficult. Therefore, in this paper, the CMAC-PID control scheme is installed. The control performance of the BASS is evaluated by the control experiment.

Keywords

adaptive control; cerebellar model arithmetic computers; handicapped aids; pneumatic actuators; three-term control; CMAC-PID control; adaptive balloon actuator-sensor system; adaptive learning impedance controller; cerebellar model arithmetic computer; human-mechanical system; learning balloon actuator-sensor system; pneumatic actuator; postural supporting device; precision control; Actuators; Adaptive control; Displacement measurement; Force sensors; Impedance; Light emitting diodes; Medical control systems; Motion control; Optical fiber sensors; Programmable control; aaa;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421033

Filename

4421033