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History of Robotics Research and Development of Japan2010LocomotionPneumatic-electric hybrid drive exoskeleton robot that can control joint torque precisely without force feedback

Sang-Ho HyonATR Computational Neuroscience Laboratories / Ritsumeikan University
Tomoyuki NodaATR Computational Neuroscience Laboratories / Ritsumeikan University
Tsuyoshi MizunoATR Computational Neuroscience Laboratories / Ritsumeikan University
Jun MorimotoATR Computational Neuroscience Laboratories / Ritsumeikan University
We proposed novel exoskeleton robot prototypes aimed at brain-machine-interface-based rehabilitation for biped locomotion and postural control for elderly people, people with spinal cord injury, stroke patients, and others with similar needs. By effectively arranging pneumatic artificial muscles with small high-response servo motors, one can achieve both weight-reduction and sensorless torque-controllability. Its anthropomorphic design and torque-controllability enable doctors/researchers to implement and test various rehabilitation/compensation programs consistent with human motor control and learning. The experimental results on position and torque control demonstrate that the hybrid drive is promising for torque-controllable, high-speed, backdrivable, mobile exoskeleton robots. This technology is also applicable to lightweight legged robots including humanoid robots.

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Video showing motion control of exoskeleton robots

Related papers

[1] 玄相昊, 森本淳, "川人光男, 歩行・姿勢リハビリテーションのための空電ハイブリッド式外骨格ロボットの開発", 第33回日本神経科学大会, 神戸コンベンションセンター, 2010年9月3日

[2] 玄相昊, 森本淳, "トルク制御が可能なハイブリッド駆動式軽量歩行ロボットの開発", 第11回計測自動制御学会システムインテグレーション部門講演会（SI2010）, 仙台，2010年12月23日.

[3] Hyon, S., Hybrid drive exoskeleton robot: Compliant control and system identification, IEEE-RAS International Conference on Humanoid Robots, Workshop, Bled, Slovenia, 2011.

[4] Hyon, S.,Morimoto, J., Matsubara, T , Noda, T., Kawato, M., XoR: Hybrid drive exoskeleton robot that can balance, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.9, San Francisco, USA, pp.3975-3981.

[5] Matsubara, M, Noda, T, Hyon, S, Morimoto, J, "An optimal control approach for hybrid actuator system", IEEE-RAS International Conference on Humanoid Robots,, Bled, Slovenia, pp. 500-506, 2011.

[6] 玄相昊, 水野剛, 林拓矢, 八木厚考, 野田智之, 森本淳, トルク制御可能な空電ハイブリッド外骨格ロボットXoR2 の開発と自律バランス制御, 第13回計測自動制御学会システムインテグレーション部門講演会（SI2012）, 2012.12, 福岡, pp.2780-2782.

[7] Morimoto, J, Noda, T, Hyon, S, Extraction of latent kinematic relationships between human users and assistive robots. IEEE International Conference on Robotics and Automation, pp. 3909-3915, 2012

[8] Noda, T, Sugimoto, N, Furukawa, J, Sato, M, Hyon, S, Morimoto, J, "Brain-Controlled Exoskeleton Robot for BMI Rehabilitation", IEEE/RAS International Conference on Humanoid Robots; 21-27, 2012.

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