Novel human-centric force control methods of power assist robots for object manipulation

S. M.Mizanoor Rahman, Ryojun Ikeura, Soichiro Hayakawa

Research output: Contribution to conferencePaperpeer-review

8 Scopus citations

Abstract

We propose two novel human-centric force control methods for a power assist robot for lifting objects with it by the human. For this purpose, we developed a 1 DoF experimental power assist system for lifting objects. We included human's weight perception in the robot dynamics, and derived two novel force control methods for the system. We then implemented the force control methods separately. For each control method, the subjects lifted different sizes of objects with the system at different conditions, and evaluated the performances of the system. The performances were expressed in terms of perceived heaviness, force and motion features, safety, stability etc. We analyzed the performances and the results showed that both of the novel force control methods produced satisfactory performances of the assistive system though the performances varied between the control methods. We then proposed to use the findings to develop control methods for human-friendly power assist robots for manipulating heavy objects in industries that may improve productivity, man-machine interactions, and human's health and safety.

Original languageEnglish (US)
Pages340-345
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
Duration: Dec 12 2013Dec 14 2013

Conference

Conference2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/TerritoryChina
CityShenzhen
Period12/12/1312/14/13

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Biotechnology

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