Proposal for Manipulation System with Cybernic Master Arm Based on BES Variable Impedance Control

摘要

This paper proposes a master-slave 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 whole body from brain through nerve system. This is a new type of master-slave manipulation 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 surface of the human skin when human is going to move a body. In order to reflect the intention of movement, the system is controlled by BES Variable Impedance Control method. The control method can voluntarily express robot arm impedance based on BES which is provided from the intuitive motion of the operator. By using this control method, it is possible to install the properties of human muscles and arms to robot arms, and to control like own arms. In addition, operator can sinuously and intuitively perform the manipulation that adapts motion without the displacement output. For verification, we test the movement of the master-slave arm system through operating experiment. Then, we confirmed that the proposed system could voluntarily control robot arm impedance by the intuitive motion of the operator. In conclusion, we developed the system that can reflect the intention of movement by BES Variable Impedance Control method.