The Linear Control of Antagonistic-Driven System using A-A ratio and A-A activity and its Application to the EMG Interface

摘要

This paper discusses the analogy between human and robot under the novel concepts of “agonist-antagonist muscle-pairs ratio (A-A ratio)” and “agonist-antagonist muscle-pairs activity (A-A activity).” These concepts are similar to the equilibrium point hypothesis, but, we make clear linearity between the A-A ratio and the equilibrium point and clarify linearity between the A-A activity and the joint stiffness. Here we represent a new interface, constructed by using a simple translation from EMG to the inputs of pneumatic artificial muscles, to connect a biological system with a robot system, and demonstrate how to treat the two systems by using our concepts.