TY - GEN
T1 - Analysis of weight perception, load forces, and objects' motions in lifting objects with a power assist robot system to modify the control
AU - Rahman, S. M.Mizanoor
AU - Ikeura, Ryojun
AU - Sawai, Hideki
PY - 2010
Y1 - 2010
N2 - We developed a one-degree-of-freedom (1-DOF) power assist system (PAS) for lifting objects. Load force (vertical lifting force, LF) consisting of inertial and gravitational forces was derived as the dynamics of motion of the system. We hypothesized that the inertial mass (mass parameter constituting the inertial force) would be different from the gravitational mass (mass parameter constituting the gravitational force) when lifting an object with the PAS. The PAS was simulated and objects were lifted with the PAS during the simulation. We critically analyzed human's weight perception, load forces and objects' motions, and identified several control parameters such as we derived the LF magnitudes and rates for various inertial and gravitational mass conditions and also determined the relationships between (i) inertial mass and LF rates, (ii) gravitational mass and LF magnitudes, (iii) gravitational mass and LF rates etc. We also analyzed the relationships among LF, object's displacement and acceleration time trajectories. We then elucidated how to modify the power-assist control based on the findings (control parameters) that would enhance maneuverability, stability, safety etc. of the PAS. The results can be used to develop PASs for carrying heavy objects in various industries.
AB - We developed a one-degree-of-freedom (1-DOF) power assist system (PAS) for lifting objects. Load force (vertical lifting force, LF) consisting of inertial and gravitational forces was derived as the dynamics of motion of the system. We hypothesized that the inertial mass (mass parameter constituting the inertial force) would be different from the gravitational mass (mass parameter constituting the gravitational force) when lifting an object with the PAS. The PAS was simulated and objects were lifted with the PAS during the simulation. We critically analyzed human's weight perception, load forces and objects' motions, and identified several control parameters such as we derived the LF magnitudes and rates for various inertial and gravitational mass conditions and also determined the relationships between (i) inertial mass and LF rates, (ii) gravitational mass and LF magnitudes, (iii) gravitational mass and LF rates etc. We also analyzed the relationships among LF, object's displacement and acceleration time trajectories. We then elucidated how to modify the power-assist control based on the findings (control parameters) that would enhance maneuverability, stability, safety etc. of the PAS. The results can be used to develop PASs for carrying heavy objects in various industries.
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U2 - 10.1109/ICMEE.2010.5558552
DO - 10.1109/ICMEE.2010.5558552
M3 - Conference contribution
AN - SCOPUS:77957781028
SN - 9781424474806
T3 - ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings
SP - V1261-V1266
BT - ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings
T2 - 2010 2nd International Conference on Mechanical and Electronics Engineering, ICMEE 2010
Y2 - 1 August 2010 through 3 August 2010
ER -