Please use this identifier to cite or link to this item:
https://hdl.handle.net/10356/79318
Title: | A biological micro actuator : graded and closed-loop control of insect leg motion by electrical stimulation of muscles | Authors: | Cao, Feng Zhang, Chao Vo Doan, Tat Thang Li, Yao Sangi, Daniyal Haider Koh, Jie Sheng Huynh, Ngoc Anh Aziz, Mohamed Fareez Bin Choo, Hao Yu Ikeda, Kazuo Abbeel, Pieter Maharbiz, Michel M. Sato, Hirotaka |
Issue Date: | 2014 | Source: | Cao, F., Zhang, C., Vo Doan, T. T., Li, Y., Sangi, D. H., Koh, J. S., et al. (2014). A biological micro actuator : graded and closed-loop control of insect leg motion by electrical stimulation of muscles. PLoS ONE, 9(8), e105389-. | Series/Report no.: | PLoS One | Abstract: | 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). | URI: | https://hdl.handle.net/10356/79318 http://hdl.handle.net/10220/38553 |
ISSN: | 1932-6203 | DOI: | 10.1371/journal.pone.0105389 | Schools: | School of Electrical and Electronic Engineering School of Mechanical and Aerospace Engineering |
Rights: | © 2014 Cao et al. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. | Fulltext Permission: | open | Fulltext Availability: | With Fulltext |
Appears in Collections: | EEE Journal Articles MAE Journal Articles |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
journal.pone.0105389.pdf | 7.87 MB | Adobe PDF | View/Open |
SCOPUSTM
Citations
10
41
Updated on Mar 24, 2024
Web of ScienceTM
Citations
10
36
Updated on Oct 27, 2023
Page view(s) 20
698
Updated on Mar 29, 2024
Download(s) 50
170
Updated on Mar 29, 2024
Google ScholarTM
Check
Altmetric
Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.