RObotic Muscle-Like ACtuator (ROMAC) and Myoelectric Control of Compliance on a ROMAC Protoarm

Authors
  1. Grodski, J.J.
Corporate Authors
Defence and Civil Inst of Environmental Medicine, Downsview ONT (CAN)
Abstract
The Robotic Muscle-like Actuator (ROMAC) is based on a pneumatic, axially-contractible device, involving an articulating polylobe bladder with a flexible, non-elastic sheath construction. The actuator exhibits muscle-like characteristics; it is single acting and compliant. Compliance is fundamentally advantageous in allowing unexpected and hence only partially controlled or impulse-like contact between objects to be non-damaging. An antagonistic pair of actuators can be used to operate a double acting joint and permit dynamic control of the compliance as an independent variable. Two double-acting systms have been combined to operate two links in the ROMAC Protoarm. The presentation provides some details on the actuators, their various versions and options in the application. It also provides a background on the experimental work which demonstrated that myoelectric signals from operator's biceps or a biceps-triceps pair can be used to provide compliance and position control of a ROMAC-powered, double-acting robotic link. Control of compliance by means of myoelectric signals to ROMAC actuators facilitates a dynamic and intuitive control of joint stiffness by a human operator in impulse dominated tasks and thereby makes the technology of interest in the development of new exoskeleton systems.
Keywords
Microsoft PowerPoint
Report Number
DCIEM-SL-2000-048 —
Date of publication
01 Mar 2000
Number of Pages
48
DSTKIM No
CA002141
CANDIS No
514752
Format(s):
CD ROM

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