A biological micro actuator : graded and closed-loop control of insect leg motion by electrical stimulation of muscles
| Autor: | Michel M. Maharbiz, Kazuo Ikeda, Yao Li, Tat Thang Vo Doan, Hirotaka Sato, Chao Zhang, Daniyal Haider Sangi, Feng Cao, Jie Sheng Koh, Mohamed Fareez Bin Aziz, Hao Yu Choo, Pieter Abbeel, Ngoc Anh Huynh |
|---|---|
| Přispěvatelé: | Lazzari, Claudio R., School of Electrical and Electronic Engineering, School of Mechanical and Aerospace Engineering |
| Jazyk: | angličtina |
| Rok vydání: | 2014 |
| Předmět: |
Bionics
Movement lcsh:Medicine Bioengineering Stimulation Electromyography Microactuator Biomimetics Control theory medicine Animals Functional electrical stimulation Legged robot Muscle Skeletal lcsh:Science Physics Multidisciplinary Animal Behavior medicine.diagnostic_test Angular displacement Mechanical Engineering lcsh:R Biology and Life Sciences Extremities Evoked Potentials Motor Motion control Biomechanical Phenomena Coleoptera body regions Engineering and Technology lcsh:Q Actuator Zoology Research Article Biotechnology |
| Zdroj: | PLoS ONE, Vol 9, Iss 8, p e105389 (2014) PLoS ONE |
| Popis: | In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle) via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage) required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closedloop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle) and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 mW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect–machine hybrid legged robot). ASTAR (Agency for Sci., Tech. and Research, S’pore) Published version |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|