TY - GEN
T1 - Design guidelines for industrial power assist robots for lifting heavy objects based on human's weight perception for better HRI
AU - Rahman, S. M.Mizanoor
AU - Ikeura, Ryojun
AU - Nobe, Masaya
AU - Sawai, Hideki
PY - 2010
Y1 - 2010
N2 - We hypothesized that weight perception (WP) due to inertia might be different from WP due to gravity for lifting an object with a power assist robot (PAR). Objects were lifted with a PAR independently under three different lifting schemes-unimanual, bimanual, and cooperative lift. Then, psychophysical relationships between actual and power-assisted weights (PAWs) as well as excess in load forces (LFs) were determined for each scheme separately. A novel control strategy was introduced to reduce the excess in LFs for each scheme. Finally, we proposed to use the findings as design guidelines to design PARs for lifting heavy objects in industries that would improve HRI in terms of human, robot and system.
AB - We hypothesized that weight perception (WP) due to inertia might be different from WP due to gravity for lifting an object with a power assist robot (PAR). Objects were lifted with a PAR independently under three different lifting schemes-unimanual, bimanual, and cooperative lift. Then, psychophysical relationships between actual and power-assisted weights (PAWs) as well as excess in load forces (LFs) were determined for each scheme separately. A novel control strategy was introduced to reduce the excess in LFs for each scheme. Finally, we proposed to use the findings as design guidelines to design PARs for lifting heavy objects in industries that would improve HRI in terms of human, robot and system.
UR - http://www.scopus.com/inward/record.url?scp=77951554398&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951554398&partnerID=8YFLogxK
U2 - 10.1145/1734454.1734502
DO - 10.1145/1734454.1734502
M3 - Conference contribution
AN - SCOPUS:77951554398
SN - 9781424448937
T3 - 5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010
SP - 121
EP - 122
BT - 5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010
T2 - 5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010
Y2 - 2 March 2010 through 5 March 2010
ER -