TY - GEN
T1 - Lifting and lowering objects manually and with a power assist robot
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
AU - Rahman, S. M.Mizanoor
AU - Ikeura, Ryojun
AU - Yu, Haoyong
PY - 2011
Y1 - 2011
N2 - Power assist robots are usually used for rehabilitation. This paper brings a novelty in power-assist applications and presents a model for manipulating objects. However, power-assist devices for object manipulation can be human-friendly if and only if human characteristics for power-assisted object manipulation are analyzed, compared them with that for manual manipulation and the findings as a whole are included in the control design. However, such biomimetic approach to power assist control design is absent. This paper deals with the development of two independent systems-one for lifting/lowering objects manually and the other for lifting/lowering objects with power-assist. We analyzed human characteristics such as weight perception, load forces, motions etc. for lifting/lowering objects manually and with power-assist and compared them with each other, and thus identified several control parameters. Then we proposed to use the control parameters to determine appropriate control methods and strategies for power assist robots for handling heavy objects in industries that may improve human-robot interactions.
AB - Power assist robots are usually used for rehabilitation. This paper brings a novelty in power-assist applications and presents a model for manipulating objects. However, power-assist devices for object manipulation can be human-friendly if and only if human characteristics for power-assisted object manipulation are analyzed, compared them with that for manual manipulation and the findings as a whole are included in the control design. However, such biomimetic approach to power assist control design is absent. This paper deals with the development of two independent systems-one for lifting/lowering objects manually and the other for lifting/lowering objects with power-assist. We analyzed human characteristics such as weight perception, load forces, motions etc. for lifting/lowering objects manually and with power-assist and compared them with each other, and thus identified several control parameters. Then we proposed to use the control parameters to determine appropriate control methods and strategies for power assist robots for handling heavy objects in industries that may improve human-robot interactions.
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U2 - 10.1109/ROBIO.2011.6181614
DO - 10.1109/ROBIO.2011.6181614
M3 - Conference contribution
AN - SCOPUS:84860785494
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 2175
EP - 2180
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -