NDLI: “Anti-fatigue” control for over-actuated bionic arm with muscle force constraints

Content Provider	IEEE Xplore Digital Library
Author	Haiwei Dong Yazdkhasti, S. Figueroa, N. El Saddik, A.
Copyright Year	2013
Description	Author affiliation: Dept. of Eng., New York Univ., Ottawa, ON, Canada (El Saddik, A.) \|\| Dubai Acad. City, Al Ghurair Univ., Dubai, United Arab Emirates (Yazdkhasti, S.) \|\| Dept. of Eng., New York Univ. AD, Abu Dhabi, United Arab Emirates (Haiwei Dong; Figueroa, N.)
Abstract	In this paper, we propose an “anti-fatigue” control method for bionic actuated systems. Specifically, the proposed method is illustrated on an over-actuated bionic arm. Our control method consists of two steps. In the first step, a set of linear equations is derived by connecting the acceleration description in both joint and muscle space. The pseudo inverse solution to these equations provides an initial optimal muscle force distribution. As a second step, we derive a gradient direction for muscle force redistribution. This allows the muscles to satisfy force constraints and generate an even distribution of forces throughout all the muscles (i.e. towards "anti-fatigue"). The overall proposed method is tested for a bending-stretching movement. We used two models (bionic arm with 6 and 10 muscles) to verify the method. The force distribution analysis verifies the “anti-fatigue” property of the computed muscle force. The efficiency comparison shows that the computational time does not increase significantly with the increase of muscle number. The tracking error statistics of the two models show the validity of the method.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	335
Ending Page	342
File Size	652379
Page Count	8
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696373
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Force Joints Mathematical model Frequency modulation Trajectory Acceleration
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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