筋拮抗比と筋活性度を用いた拮抗駆動装置の線形制御と筋電インタフェースへの応用

抄録

This paper discusses the analogy between human and robot under the novel concepts of “agonist-antagonist muscle-pairs ratio (A-A ratio)” and “agonist-antagonist muscle-pairs activity (A-A activity).” These concepts are similar to the equilibrium point hypothesis, but, we make clear linearity between the A-A ratio and the equilibrium point and clarify linearity between the A-A activity and the joint stiffness. Here we represent a new interface, constructed by using a simple translation from EMG to the inputs of pneumatic artificial muscles, to connect a biological system with a robot system, and demonstrate how to treat the two systems by using our concepts.