Development of five-degree-of-freedom wire suspension power-assisted system using linear cylinders

Miyoshi, Takanori; Suzuki, Kenji; Terashima, Kazuhiko

doi:10.1109/icra.2011.5979880

Cited by 6 publications

(1 citation statement)

References 12 publications

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“…Power assist technology is one of the promising solutions for several aging-related problems. Various studies related to power assist have been conducted from the viewpoint of control engineering, e.g., electric wheelchairs in welfare field [1], [2] and overhead cranes in industries [3].…”

Section: Introductionmentioning

confidence: 99%

Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle

Hatada

Hirata

Sato

2017

SICE Journal of Control, Measurement, and System Integration

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: This paper addresses the problem of energy-efficient power assist control for quasiperiodic motions. The simplest assist method would be to apply additional torque in proportion to the instantaneous value of torque generated by a user. In our previous study, it was shown that energy efficiency improves by flattening the torque pattern. To cope with the frequency fluctuation of our motion, we introduce a periodic disturbance observer with a frequency estimator and suppress the pulsation of the human torque based on a disturbance observer framework. The effectiveness of the proposed method is evaluated through numerical simulations and experiments with an actual electric bicycle being pedaled by a human.

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Section: Introductionmentioning

confidence: 99%