Abstract
This paper proposes a master-slave type manipulation system that can reflect the intention of movement of an operator directly. The system uses the nerve action potential signal, which is transmitted to the muscle from brain. This is a novel master-slave arm system, which consists of Cybernic master arm and slave arm. The Cybernic master arm uses joint torque estimation method, based on Bioelectrical Signal (BES). The BES is detected at the human skin surface when human is going to move a body. In order to reflect the motion imagery, the system is controlled by bilateral control method based on BES. By using this control method, operator can sinuously and intuitively perform the manipulation. For verification, we test the movement of the master-slave arm system through operating experiment. Then, we confirmed that this proposed system could voluntarily control slave arm motion and adjust the amount of muscle activity by assist rate. Moreover, the system which adapted a Cybernic master arm system by BES control method has best work efficiency. In conclusion, we developed the master-slave type manipulation system that can reflect the intention of movement by bilateral control method based on BES.
