Miyazaki Tetsuro, Tomita Yoshihide, Kawashima Kenji
Department of Information Physics and Computing, The University of Tokyo, 113-8656, Tokyo, Japan.
Wearable Technol. 2025 Feb 26;6:e10. doi: 10.1017/wtc.2024.30. eCollection 2025.
Machine - human interaction systems have been proposed to improve motion learning efficiency. We developed a pneumatic-driven motion teaching system that provides feedback to the learner by simultaneously presenting visual and torque information. We achieved a lightweight, soft, and user-safety haptic system using a pneumatic artificial muscle (PAM). The PAM's shrink force was estimated based on its characteristic model and the suit link system, and the suit generated external torque. However, accurate force control was challenging due to the time delay of the feedback control, the loosening of the soft suit, and modeling errors of the driving PAM caused by hysteresis. To improve the force control performance of the motion teaching suit, this article's contributions are to develop a novel suit in which PAMs for drive and force estimation are connected in series and implement a 2-degree-of-freedom (DOF) force control system using force estimation values in this suit and to confirm the effectiveness of the proposed hardware and software. This article contains three topics: (a) the development of novel suit hardware, (b) force estimation using a sealed small PAM, and (c) a proposal of force control using a 2-DOF controller. The effect of loosening the soft suit is reduced in the novel-developed suit. A sealed small PAM with small deformation and little hysteresis is adopted for force estimation. The time delay in feedback control is decreased by adopting the proposed novel 2-DOF control. Finally, the proposed suit and its control system were evaluated in experiments and achieved the desired performance.
已提出人机交互系统以提高运动学习效率。我们开发了一种气动驱动的运动教学系统，该系统通过同时呈现视觉和扭矩信息为学习者提供反馈。我们使用气动人工肌肉（PAM）实现了一种轻质、柔软且对用户安全的触觉系统。基于其特性模型和套装链接系统估计了PAM的收缩力，并且该套装产生外部扭矩。然而，由于反馈控制的时间延迟、柔软套装的松动以及由滞后引起的驱动PAM的建模误差，精确的力控制具有挑战性。为了提高运动教学套装的力控制性能，本文的贡献在于开发一种新型套装，其中用于驱动和力估计的PAM串联连接，并在该套装中使用力估计值实现两自由度（DOF）力控制系统，以及确认所提出的硬件和软件的有效性。本文包含三个主题：（a）新型套装硬件的开发，（b）使用密封小型PAM进行力估计，以及（c）使用二自由度控制器进行力控制的提议。在新开发的套装中，柔软套装松动的影响得以减小。采用变形小且滞后小的密封小型PAM进行力估计。通过采用所提出的新型二自由度控制，反馈控制中的时间延迟得以降低。最后，在实验中对所提出的套装及其控制系统进行了评估，并实现了期望的性能。
