軸方向繊維強化型人工筋肉の実験同定モデルに基づくフィードフォワードコントローラを適用した、可変剛性拮抗関節の評価実験

抄録

In this paper, evaluation experiment of an antagonistic joint with two artificial muscles is conducted with feedforward controller which is based on the experimental identification model. The previous controller was based on a mechanical equilibrium model which we can understand the characteristics of the artificial muscle. However, the accuracy of the controller was poor, and the calculation is too complex that the sequential calculation cannot keep up with a real time control on a microcontroller. Thus, this paper proposes an experimental identification model whose calculation is simpler, and has a better accuracy than the previous one. Also, the parameters in the model are easily identified by the measurement experiment of the artificial muscle. And apply the feedforward controller which is based on an experimental identification model to the antagonist joint with two artificial muscles.