TY - GEN
T1 - Design of a power assist system for lifting objects based on human's weight perception and changes in system's time constant
AU - Rahman, S. M.Mizanoor
AU - Ikeura, Ryojun
AU - Nobe, Masaya
AU - Sawai, Hideki
PY - 2009
Y1 - 2009
N2 - In this paper, we designed a simple 1 DOF power assist system for lifting objects based on human's perception of object weight. We hypothesized that, human's perception of weight due to inertial force might be different from the perceived weight due to gravitational force. We then compared human's load force rates for lifting objects manually with that for lifting objects with the power assist system. We found the load force rates much lower for the power assisted objects. We then hypothesized whether or not mechanical time constant of the power assist system is a factor that reduces heaviness of objects lifted with it. The results show that, higher mechanical time constant lowers the perceived heaviness as well as peak load forces. Uses of the findings in design of power assist robots for lifting heavy objects in industries may improve interactions with humans.
AB - In this paper, we designed a simple 1 DOF power assist system for lifting objects based on human's perception of object weight. We hypothesized that, human's perception of weight due to inertial force might be different from the perceived weight due to gravitational force. We then compared human's load force rates for lifting objects manually with that for lifting objects with the power assist system. We found the load force rates much lower for the power assisted objects. We then hypothesized whether or not mechanical time constant of the power assist system is a factor that reduces heaviness of objects lifted with it. The results show that, higher mechanical time constant lowers the perceived heaviness as well as peak load forces. Uses of the findings in design of power assist robots for lifting heavy objects in industries may improve interactions with humans.
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U2 - 10.1109/HSI.2009.5091057
DO - 10.1109/HSI.2009.5091057
M3 - Conference contribution
AN - SCOPUS:70349990451
SN - 9781424439607
T3 - Proceedings - 2009 2nd Conference on Human System Interactions, HSI '09
SP - 664
EP - 671
BT - Proceedings - 2009 2nd Conference on Human System Interactions, HSI '09
T2 - 2009 2nd Conference on Human System Interactions, HSI '09
Y2 - 21 May 2009 through 23 May 2009
ER -