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Artificial Life and Robotics
Erschienen in: Artificial Life and Robotics 4/2016

26.07.2016 | Original Article

Development of an embedded sensor system for pneumatic artificial muscle proprioceptors

verfasst von: Hirofumi Shin, Hajime Saitoh, Takahiko Kawakami, Satoshi Yamanishi, Shuhei Ikemoto, Koh Hosoda

Erschienen in: Artificial Life and Robotics | Ausgabe 4/2016

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Abstract

Spinal reflexes greatly contribute to the control of fast physical interactions (e.g., catching a moving ball) without the influence of higher level control systems involved in human motor control. Therefore, to realize the interactions in robots, it is a useful approach to mimic the nervous system controlling spinal reflexes. To this end, as the starting point for creating spinal reflexes, sensors that measure and encode body movements similar to human proprioceptors are needed to generate signals for the spinal reflexes. In this study, we developed artificial muscle proprioceptors to reproduce spinal reflexes in robots. In particular, we focused on pneumatic artificial muscles and designed an artificial muscle spindle and an artificial Golgi tendon organ, which were integrated with a pneumatic artificial muscle. A compact local measuring system consisting of a microcomputer and amplifiers was developed to easily install and organize the sensors.
Vorheriger Artikel Teleoperation of robot arm with position measurement via angle-pixel characteristic and visual supporting function
Nächster Artikel Multi-body dynamics simulation and gait pattern analysis of a bio-inspired quadruped robot for unstructured terrains using adaptive stroke length

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Metadaten
Titel
Development of an embedded sensor system for pneumatic artificial muscle proprioceptors
verfasst von
Hirofumi Shin
Hajime Saitoh
Takahiko Kawakami
Satoshi Yamanishi
Shuhei Ikemoto
Koh Hosoda
Publikationsdatum
26.07.2016
Verlag
Springer Japan
Erschienen in
Artificial Life and Robotics / Ausgabe 4/2016
Print ISSN: 1433-5298
Elektronische ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-016-0290-9

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