Posture control of redundant manipulators on the norm of task space stiffness optimization

This paper investigates the posture of the manipulator that has redundant DOF similar to human upper extremity. The human arm naturally takes a posture with no wandering although it has one or two DOF redundancy. The authors consider that the posture will be determined in task-oriented, which means that human unconsciously takes a posture of his/her upper extremities, which is suitable for the task that the endpoint is about to do. This study also assumes that all joints are capable to adjust the joint stiffness so that the stiffness of the endpoint in the task space is also adjustable. Hence our study aims to establish the theoretical method to make the manipulator take a posture that provides a stiffness of the endpoint suitable for the task. The new formula for shaping the manipulator's posture to provide a desired stiffness of the endpoint is presented followed by the simulation study to verify it.

[1]  Wan Kyun Chung,et al.  Stiffness control of a coupled tendon-driven robot hand , 1994 .

[2]  Jean-Pierre Merlet,et al.  A New Design for Wire-Driven Parallel Robot , 2007 .

[3]  Koichi Koganezawa,et al.  Mechanical stiffness control for antagonistically driven joints , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Michael A. Arbib,et al.  A mathematical analysis of the force-stiffness characteristics of muscles in control of a single joint system , 1992, Biological Cybernetics.

[5]  Peter Wolf,et al.  Real‐time rowing simulator with multimodal feedback , 2008 .

[6]  Imin Kao,et al.  Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers , 2000, Int. J. Robotics Res..

[7]  Robert A. Freeman,et al.  Synthesis of Actively Adjustable Springs by Antagonistic Redundant Actuation , 1992 .

[8]  James S. Albus,et al.  The NIST robocrane , 1993, J. Field Robotics.

[9]  Koichi Koganezawa,et al.  Antagonistic control of multi-DOF joint by using the actuator with non-linear elasticity , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[10]  Byung-Ju Yi,et al.  Geometric characteristics of antagonistic stiffness in redundantly actuated mechanisms , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[11]  M. Morari,et al.  Robotic Orthosis Lokomat: A Rehabilitation and Research Tool , 2003, Neuromodulation : journal of the International Neuromodulation Society.

[12]  P. Matthews.  The dependence of tension upon extension in the stretch reflex of the soleus muscle of the decerebrate cat , 1959, The Journal of physiology.

[13]  Roger V. Bostelman,et al.  3D Cable-Based Cartesian Metrology System , 2004 .

[14]  Koichi Koganezawa,et al.  Actuator with Non Linear Elastic System (ANLES) For Controlling Joint Stiffness on Antaonistic Driving , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.

[15]  R. Riener,et al.  ARMin - design of a novel arm rehabilitation robot , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[16]  Makoto Sato,et al.  The Stringed Haptic Workbench: a New Haptic Workbench Solution , 2003, Comput. Graph. Forum.

[17]  Lucy Y. Pao,et al.  Bow spring/tendon actuation for low cost haptic interfaces , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[18]  Dragoljub Surdilovic,et al.  STRING-MAN: a new wire robot for gait rehabilitation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[19]  Tatsuo Arai,et al.  Design of an upper limb motion assist system with parallel mechanism , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[20]  S. Andreassen,et al.  Regulation of soleus muscle stiffness in premammillary cats: intrinsic and reflex components. , 1981, Journal of neurophysiology.

[21]  J. Edward Colgate,et al.  Design of components for programmable passive impedance , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[22]  Vijay R. Kumar,et al.  Workspaces of Cable-Actuated Parallel Manipulators , 2006 .

[23]  Koichi Koganezawa,et al.  Mechanical stiffness control of tendon-driven joints , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[24]  Mark L. Nagurka,et al.  Dynamic and loaded impedance components in the maintenance of human arm posture , 1993, IEEE Trans. Syst. Man Cybern..

[25]  M. Lehmann,et al.  Training of rowers before world championships. , 1998, Medicine and science in sports and exercise.

[26]  Masahiro ISHII,et al.  A 3D interface device with force feedback: a virtual work space for pick-and-place tasks , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[27]  Peter I. Corke,et al.  Air Vehicle Simulator: an Application for a Cable Array Robot , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[28]  R.F. Beer,et al.  Development of the MACARM - a novel cable robot for upper limb neurorehabilitation , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[29]  Makoto Sato,et al.  Virtual canoe: real-time realistic water simulation for haptic interaction , 2005, SIGGRAPH '05.

[30]  E. Bizzi,et al.  Neural, mechanical, and geometric factors subserving arm posture in humans , 1985, The Journal of neuroscience : the official journal of the Society for Neuroscience.

[31]  Fel'dman Ag.  On the functional tuning of the nervous system in movement control or preservation of stationary pose. II. Adjustable parameters in muscles , 1966 .

[32]  Michitaka Hirose,et al.  HapticGEAR: the development of a wearable force display system for immersive projection displays , 2001, Proceedings IEEE Virtual Reality 2001.

[33]  Stephen C. Jacobsen,et al.  Antagonistic control of a tendon driven manipulator , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[34]  Makoto Sato,et al.  Scaleable SPIDAR: A Haptic Interface For Human-Scale Virtual Environments , 2000, Haptic Human-Computer Interaction.

[35]  S. Plagenhoef,et al.  Patterns of human motion;: A cinematographic analysis , 1971 .

[36]  Ken Ito,et al.  A new type of master robot for teleoperation using a radial wire drive system , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[37]  R. Gassert,et al.  A Cable Driven Robotic System to Train Finger Function After Stroke , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[38]  Sadao Kawamura,et al.  Realization of a virtual sports training system with parallel wire mechanism , 1997, Proceedings of International Conference on Robotics and Automation.

[39]  R F Zernicke,et al.  Lower extremity forces and torques during systematic variation of non-weight bearing motion. , 1978, Medicine and science in sports.

[40]  S. Kim,et al.  A Novel Seven Degree of Freedom Haptic Device for Engineering Design , 2003, Virtual Reality.

[41]  Koichi Koganezawa,et al.  Posture control of redundant manipulators based on the task oriented stiffness regulation , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[42]  Sadao Kawamura,et al.  High-speed manipulation by using parallel wire-driven robots , 2000, Robotica.

[43]  Claudio Melchiorri,et al.  What kind of haptic perception can we get with a one-wire interface? , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[44]  Makoto Sato,et al.  Position Measurement Improvement on a Force Display Device Using Tensed Strings (Special Issue on Multimedia Computing and Communications) , 1996 .