MYOELECTRIC CONTROL OF COMPLIANCE ON A ROMAC PROTOARM (paper presented at the International Symposium on Teleoperation and Control, held in Bristol, England, 12-15 July 1988)

Authors
  1. Grodski, J.J.
  2. Immega, G.B.
Corporate Authors
Defence and Civil Inst of Environmental Medicine, Downsview ONT (CAN);MacDonald Dettwiler and Associates Ltd, Richmond BC (CAN)
Abstract
A new RObotic Muscle ACtuator (ROMAC) is based on a pneumatic, axially-contractable 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. An antagonistic pair of the actuators can be used to operate a double-acting system and permit a dynamic control of the compliance as an independent variable. The paper provides details on an experiment which demonstrated that myoelectric signals from operator's two biceps or a biceps-triceps pair can be used to provide teleoperated compliance and position control of a ROMAC-powered, double-acting robotic link. The teleoperation of compliance, by means of myoelectric signals to ROMAC actuators, provides a dynamic and intuitive control of joint stiffness by a human operator, and thus allows remotely controlled robots to undertake impulse-dominated tasks in unstructured environments.
Report Number
DCIEM-89-P-31 — Research Paper; Reprint
Date of publication
01 Jan 1988
Number of Pages
14
Reprinted from
Proc Int Symposium Teleoperation and Control, 1988, p 297-308
DSTKIM No
90-01108
CANDIS No
63379
Format(s):
Hardcopy;Originator's fiche received by DSIS

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