Design and control of a 1DOF power assist robot for lifting objects based on human operator's unimanual and bimanual weight discrimination

S. M.Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe, Hideki Sawai

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

17 Scopus citations

Abstract

In this paper, we designed and controlled a 1 DOF power assist robot for lifting objects based on human operator's unimanual and bimanual weight discrimination. At first, we established psychophysical relationships between the actual weights and the power assisted weights for the objects lifted with the power assist robot. We also determined the excess of the load forces that humans applied while lifting objects with the robot. In everyday life, human decides to employ one or two hands to manipulate objects on the basis of object's physical characteristics. Hence, the psychophysical relationships were established and the excess of the load forces were determined for two protocols independently. The protocols were: 1) unimanual lift, and 2) bimanual lift. Then, we modified the control system of the power assist robot based on the psychophysical relationships and the load force characteristics. The modified control system reduced the excessive load forces applied by humans and thus enhanced maneuverability, operability, naturalness, ease of use, stability, safety etc. of the robot system significantly. Then, we suggested using the findings to design power assist robots for carrying heavy objects in various industries.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages3637-3644
Number of pages8
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China
Duration: Aug 9 2009Aug 12 2009

Publication series

Name2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

Conference

Conference2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/TerritoryChina
CityChangchun
Period8/9/098/12/09

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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