Interaction Approach for Movement-Assist Control Using Neural Oscillators

Xia Zhang; Minoru Hashimoto

doi:10.20965/ijat.2009.p0741

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IJAT Vol.3 No.6 pp. 741-749

doi: 10.20965/ijat.2009.p0741

(2009)

Paper:

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Interaction Approach for Movement-Assist Control Using Neural Oscillators

Xia Zhang and Minoru Hashimoto

Department of Bioscience and Textile Technology, Interdisciplinary Graduate School of Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan

Received:

June 18, 2009

Accepted:

July 27, 2009

Published:

November 5, 2009

Keywords:

movement assist, synchronization-based control, neural oscillator

Abstract

In this paper we propose a framework of realizing natural assist behavior with a movement-assist suit inspired by human interaction. Since human interaction can be thought as synchronization behavior common in movement assistance between human beings, to achieve human-like movement assistance, synchronization-based control is applied to a movement-assist suit. We use neural oscillators to entrain and synchronize suit movement with that of users. To determine validity and feasibility, we examine the proposal for whether (1) synchronization of action between human and movement-assist suit can be realized, (2) the assist effect can be obtained, and (3) the proposed method is comfortable for users. To determine these points, we simulated movement assistance and conducted experiments with a joint-torque-sensing assist suit. Results demonstrated that synchronized movement was realized and that a movement-assistance effect was implemented. Results of evaluation experiments showed the good usability the suit has as proposed, confirming the proposal's applicability and performance.

Cite this article as:

X. Zhang and M. Hashimoto, “Interaction Approach for Movement-Assist Control Using Neural Oscillators,” Int. J. Automation Technol., Vol.3 No.6, pp. 741-749, 2009.

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References

[1] H. Kawatoto and Y. Sankai, “Power assist method based on Phase Sequence and muscle force condition for HAL,” Advanced Robotics, Vol.19, No.7, pp. 717-734, 2005.
[2] H. Kazerooni, J.-L. Racine, L. Huang, and R. Steger, “On the Control of the Berkeley Lower Extremity Exoskeleton(BLEEX),” IEEE Int. Conf. on Robotics and Automation, Barcelona, pp. 4364-4371, April 2005.
[3] A. Chu, H. Kazerooni, and A. Zoss, “On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton(BLEEX),” IEEE Int. Conf. on Robotic and Automation, Barcelona, pp. 4356-4363, April 2005.
[4] K. Kong, H. Moon, B. Hwang, D. Jeon, and M. Tomizuka, “Robotic Rehabilitation Treatments: Realization of Aquatic Therapy Effects in Exoskeleton Systems,” IEEE Int. Conf. on Robotic and Automation, Japan, pp. 1923-1928, May 2009.
[5] T. Nakamura, K. Saito, Z. Wang, K. Kosuge, and M. Tajika, “Human Cooperative Motion Adapted Wearable Anti-Gravity Muscle Support System,” IEEE Int. Conf. on Intelligent Robot and System, pp. 1843-1848, 2006.
[6] Y. Mori, K. Maejima, and K. Nagase, “ABLE: A Standing Style Transfer System for a Person with Disable Lower Limbs,” J. of the Robotics Society of Japan, Vol.27, No.3, pp. 76-83, 2009.
[7] K. Kong, C. Baek, and M. Tomizuka, “Design of a Rehabilitation Device Based on a Mechanical Link System,” IEEE Int. Conf. on Robotic and Automation, Japan, pp. 2306-2311, May 2009.
[8] G. Taga, “A model of the neuro-musulo-skeletal system for human location,” Biological Cybernetics, 73, pp. 97-111, 1995.
[9] S. Kotosaka and S. Schaal, “Synchronized robot motion by neural oscillators,” JRSJ Vol.19, No.5, pp. 580-583, 2001.
[10] T. Kasuga and M. Hashimoto, “Human-Robot Handshaking using Neural Oscillators,” IEEE Int. Conf. on Robotics and Automation, Barcelona, pp. 3813-3818, April 2005.
[11] T. Sato, M. Hashimoto, and M. Tsukahara, “Synchronization Based Control using Online Design of Dynamics and Its ApplicatioN to Human-Robot Interaction,” IEEE Int. Conf. on Robotics and Biomimetics, China, pp. 652-657, December 2007.
[12] K. Matsuoka, “Sustained Oscillations Generated by Mutually Inhibiting Neurons with Adaptation,” Biological Cybernetics, Vol.52, pp. 367-376, 1985.
[13] K. Matsuoka, “Mechanisms of Frequency and Pattern Control in the Neural Rhythm Generators,” Biological Cybernetics, Vol.56, pp. 345-353, 1987.
[14] M. Hashimoto, Y. Kiyosawa, and R. P. Paul, “Torque sensing technique for robots with harmonic drives,” IEEE Trans. on Robotics and Automation, Vol.9, No.1, pp. 108-116, 1993.
[15] I. Godler, M. Horiuchi, M. Hashimoto, and T. Ninomiya, “Accuracy Improvement of Built-In Torque Sensing for Harmonic Drives,” IEEE/ASME IEEE/ASME Trans. on Mechatronics, Vol.5, No.4, pp. 360-366, 2000.
[16] K. Tomohiro, M. Tadashi, K. Tohru, and S. Tsugutake, Biomechanism Library Practical Usage of Surface Electromyogram, First Edition, Society of Biomechanisms, Japan, p.16, 2006 (in Japanese).
[17] R. A. Bradley and M. E. Terry, “Rank analysis of incomplete block designs I, The method of paired comparisons,” Biometrika, Vol.39, pp. 324-345, 1952.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] H. Kawatoto and Y. Sankai, “Power assist method based on Phase Sequence and muscle force condition for HAL,” Advanced Robotics, Vol.19, No.7, pp. 717-734, 2005.

[2] [2] H. Kazerooni, J.-L. Racine, L. Huang, and R. Steger, “On the Control of the Berkeley Lower Extremity Exoskeleton(BLEEX),” IEEE Int. Conf. on Robotics and Automation, Barcelona, pp. 4364-4371, April 2005.

[3] [3] A. Chu, H. Kazerooni, and A. Zoss, “On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton(BLEEX),” IEEE Int. Conf. on Robotic and Automation, Barcelona, pp. 4356-4363, April 2005.

[4] [4] K. Kong, H. Moon, B. Hwang, D. Jeon, and M. Tomizuka, “Robotic Rehabilitation Treatments: Realization of Aquatic Therapy Effects in Exoskeleton Systems,” IEEE Int. Conf. on Robotic and Automation, Japan, pp. 1923-1928, May 2009.

[5] [5] T. Nakamura, K. Saito, Z. Wang, K. Kosuge, and M. Tajika, “Human Cooperative Motion Adapted Wearable Anti-Gravity Muscle Support System,” IEEE Int. Conf. on Intelligent Robot and System, pp. 1843-1848, 2006.

[6] [6] Y. Mori, K. Maejima, and K. Nagase, “ABLE: A Standing Style Transfer System for a Person with Disable Lower Limbs,” J. of the Robotics Society of Japan, Vol.27, No.3, pp. 76-83, 2009.

[7] [7] K. Kong, C. Baek, and M. Tomizuka, “Design of a Rehabilitation Device Based on a Mechanical Link System,” IEEE Int. Conf. on Robotic and Automation, Japan, pp. 2306-2311, May 2009.

[8] [8] G. Taga, “A model of the neuro-musulo-skeletal system for human location,” Biological Cybernetics, 73, pp. 97-111, 1995.

[9] [9] S. Kotosaka and S. Schaal, “Synchronized robot motion by neural oscillators,” JRSJ Vol.19, No.5, pp. 580-583, 2001.

[10] [10] T. Kasuga and M. Hashimoto, “Human-Robot Handshaking using Neural Oscillators,” IEEE Int. Conf. on Robotics and Automation, Barcelona, pp. 3813-3818, April 2005.

[11] [11] T. Sato, M. Hashimoto, and M. Tsukahara, “Synchronization Based Control using Online Design of Dynamics and Its ApplicatioN to Human-Robot Interaction,” IEEE Int. Conf. on Robotics and Biomimetics, China, pp. 652-657, December 2007.

[12] [12] K. Matsuoka, “Sustained Oscillations Generated by Mutually Inhibiting Neurons with Adaptation,” Biological Cybernetics, Vol.52, pp. 367-376, 1985.

[13] [13] K. Matsuoka, “Mechanisms of Frequency and Pattern Control in the Neural Rhythm Generators,” Biological Cybernetics, Vol.56, pp. 345-353, 1987.

[14] [14] M. Hashimoto, Y. Kiyosawa, and R. P. Paul, “Torque sensing technique for robots with harmonic drives,” IEEE Trans. on Robotics and Automation, Vol.9, No.1, pp. 108-116, 1993.

[15] [15] I. Godler, M. Horiuchi, M. Hashimoto, and T. Ninomiya, “Accuracy Improvement of Built-In Torque Sensing for Harmonic Drives,” IEEE/ASME IEEE/ASME Trans. on Mechatronics, Vol.5, No.4, pp. 360-366, 2000.

[16] [16] K. Tomohiro, M. Tadashi, K. Tohru, and S. Tsugutake, Biomechanism Library Practical Usage of Surface Electromyogram, First Edition, Society of Biomechanisms, Japan, p.16, 2006 (in Japanese).

[17] [17] R. A. Bradley and M. E. Terry, “Rank analysis of incomplete block designs I, The method of paired comparisons,” Biometrika, Vol.39, pp. 324-345, 1952.