TY - GEN
T1 - Harmonic motion analysis and control for manipulating objects with a power assist robot based on human characteristics
AU - Rahman, S. M.Mizanoor
AU - Ikeura, Ryojun
AU - Nobe, Masaya
AU - Sawai, Hideki
PY - 2010
Y1 - 2010
N2 - We developed a one-degree-of-freedom (vertical up-down motion) power assist robot for manipulating objects. The robot system was simulated and subjects manipulated objects with the robot in harmonic motion i.e. the objects were repeatedly lifted up and lowered down during the simulation. We then critically analyzed human's weight perception, load forces and object's motion features. We then introduced a novel control strategy to reduce the excessive load forces applied by the subjects. The novel control strategy produced satisfactory maneuverability, safety, naturalness, ease of use, stability etc. of the robot system. We also compared the findings derived in harmonic motion to that derived in linear vertical motion (lifting objects vertically). Finally, we proposed using the findings to develop human-friendly power assist devices to manipulate heavy objects in various industries such as mining, manufacturing and assembly, construction, transport and logistics, rescue and military operations etc.
AB - We developed a one-degree-of-freedom (vertical up-down motion) power assist robot for manipulating objects. The robot system was simulated and subjects manipulated objects with the robot in harmonic motion i.e. the objects were repeatedly lifted up and lowered down during the simulation. We then critically analyzed human's weight perception, load forces and object's motion features. We then introduced a novel control strategy to reduce the excessive load forces applied by the subjects. The novel control strategy produced satisfactory maneuverability, safety, naturalness, ease of use, stability etc. of the robot system. We also compared the findings derived in harmonic motion to that derived in linear vertical motion (lifting objects vertically). Finally, we proposed using the findings to develop human-friendly power assist devices to manipulate heavy objects in various industries such as mining, manufacturing and assembly, construction, transport and logistics, rescue and military operations etc.
UR - http://www.scopus.com/inward/record.url?scp=78650361220&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78650361220&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2010.5626063
DO - 10.1109/BIOROB.2010.5626063
M3 - Conference contribution
AN - SCOPUS:78650361220
SN - 9781424477081
T3 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
SP - 33
EP - 39
BT - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
T2 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Y2 - 26 September 2010 through 29 September 2010
ER -