(Georgia Institute of Technology, 2009-10)
MacNair, David L.; Ueda, Jun
If the modal response for a single degree of freedom flexible system is known, a command generation architecture can be determined which schedules on/off actuator effort such that the resulting motion will have zero vibration. If the system possesses redundant on/off actuation, the number of possible zero vibration commands increases. Of particular interest is the command that has the minimum number of actuator changes in state. This paper presents how to determine this command and applies it in simulation to a flexible actuator inspired by human muscle.
(Georgia Institute of Technology, 2009-07)
Schultz, Joshua; Ueda, Jun
If the modal response for a single degree of freedom flexible system is known, a command generation architecture can be determined which schedules on/off actuator effort such that the resulting motion will have zero vibration. If the system possesses redundant on/off actuation, the number of possible zero vibration commands increases. Of particular interest is the command that has the minimum number of actuator changes in state. This paper presents how to determine this command and applies it in simulation to a flexible actuator inspired by human muscle.
(Georgia Institute of Technology, 2009-06)
Ueda, Jun; Hyderabadwala, Moiz; Krishnamoorthy, Vijaya; Shinohara, Minoru
A functionality test at the level of individual muscles may be effective for neuromuscular function tests. This paper proposes a novel computational method for neuromuscular function test planning using an individual muscle force control technique assisted by a rehabilitation robot. The algorithm will systematically compute an adequate amount and direction of force that a subject needs to exert, e.g., by his/her hand, to induce a desired muscle activation pattern of target muscle forces. A wearable robot with actuators (an exoskeleton robot, or a power-assisting device) is utilized to assist/resist the subject's joint torques. This paper presents a basic concept and preliminary simulation results. The simulation results justify the use of the wearable actuators in terms of the accuracy of muscle-level control during planned motor tasks.