A human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot

S. M.Mizanoor Rahman, Ryojun Ikeura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this paper, we present the design and evaluation of a novel control method for a power assist robotic system for manipulating objects with it by human subjects. We consider the manipulation of objects in harmonic motion (object is lifted up and lowered down repeatedly) as we think that this motion may be very practical and useful in object manipulation. We develop a 1 DOF power assist system. The subjects manipulate different sizes of objects with the system in harmonic motion. We analyze human characteristics such as weight perception, load force, object motions etc. We find that the load force and acceleration are excessive that reduce the performances of the system. We then optimize the perceived heaviness. We then design and implement a novel control method based on human characteristics to reduce load force and acceleration. Results show that the novel control reduces load force and acceleration, optimizes perceived heaviness and thus makes the performances (maneuverability, safety etc.) satisfactory. We also compare this novel control designed for object manipulation in harmonic motion to another novel control designed for lifting objects with power-assist in linear vertical motion. Finally, we propose to use the findings to develop control method for power assist devices for manipulating heavy objects in industries that may enhance interactions between humans and robots.

Original languageEnglish (US)
Title of host publication2012 IEEE RO-MAN
Subtitle of host publicationThe 21st IEEE International Symposium on Robot and Human Interactive Communication
Pages113-119
Number of pages7
DOIs
StatePublished - 2012
Event2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris, France
Duration: Sep 9 2012Sep 13 2012

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
Country/TerritoryFrance
CityParis
Period9/9/129/13/12

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

Fingerprint

Dive into the research topics of 'A human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot'. Together they form a unique fingerprint.

Cite this