Design guidelines for industrial power assist robots for lifting heavy objects based on human's weight perception for better HRI

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

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

3 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010
Pages121-122
Number of pages2
DOIs
StatePublished - 2010
Event5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010 - Osaka, Japan
Duration: Mar 2 2010Mar 5 2010

Publication series

Name5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010

Conference

Conference5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010
Country/TerritoryJapan
CityOsaka
Period3/2/103/5/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction

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