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dc.contributor.authorTeramae, T.
dc.contributor.authorIshihara, K.
dc.contributor.authorBabič, J.
dc.contributor.authorMorimoto, J.
dc.contributor.authorÖztop, Erhan
dc.contributor.editorConradt, J.
dc.date.accessioned2019-02-11T08:47:37Z
dc.date.available2019-02-11T08:47:37Z
dc.date.issued2018-11-06
dc.identifier.issn1662-5218en_US
dc.identifier.urihttp://hdl.handle.net/10679/6163
dc.identifier.urihttps://www.frontiersin.org/articles/10.3389/fnbot.2018.00071/full
dc.description.abstractPneumatically actuated muscles (PAMs) provide a low cost, lightweight, and high power-To-weight ratio solution for many robotic applications. In addition, the antagonist pair configuration for robotic arms make it open to biologically inspired control approaches. In spite of these advantages, they have not been widely adopted in human-in-The-loop control and learning applications. In this study, we propose a biologically inspired multimodal human-in-The-loop control system for driving a one degree-of-freedom robot, and realize the task of hammering a nail into a wood block under human control. We analyze the human sensorimotor learning in this system through a set of experiments, and show that effective autonomous hammering skill can be readily obtained through the developed human-robot interface. The results indicate that a human-in-The-loop learning setup with anthropomorphically valid multi-modal human-robot interface leads to fast learning, thus can be used to effectively derive autonomous robot skills for ballistic motor tasks that require modulation of impedance.en_US
dc.description.sponsorshipImPACT of CSTI ; Commissioned Research of NICT, AMED ; Research and Development of Advanced Medical Devices and Systems to Achieve the future of Medicine from AMED ; JSPS KAKENHI ; NEDO ; Japan Trust ; EC FP7 Converge project ; EU ; JSPS ; Tateishi Science and Technology Foundation
dc.language.isoengen_US
dc.publisherFrontiers Mediaen_US
dc.relationinfo:eu-repo/grantAgreement/EC/FP7/321700
dc.relation.ispartofFrontiers in Neurorobotics
dc.rightsopenAccess
dc.titleHuman-in-the-loop control and task learning for pneumatically actuated muscle based robotsen_US
dc.typeArticleen_US
dc.description.versionPublisher versionen_US
dc.peerreviewedyesen_US
dc.publicationstatusPublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan
dc.contributor.ozuauthorÖztop, Erhan
dc.identifier.volume12en_US
dc.identifier.startpage1en_US
dc.identifier.endpage10en_US
dc.identifier.wosWOS:000449247800001
dc.identifier.doi10.3389/fnbot.2018.00071en_US
dc.subject.keywordsHuman in the loop controlen_US
dc.subject.keywordsPneumatically actuated muscleen_US
dc.subject.keywordsBiologically inspired multimodal controlen_US
dc.subject.keywordsHuman motor learningen_US
dc.subject.keywordsElectromyographyen_US
dc.identifier.scopusSCOPUS:2-s2.0-85056612340
dc.contributor.authorMale1
dc.relation.publicationcategoryArticle - International Refereed Journal - Institution Academic Staff


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