Lowering Objects with a Power Assist Robot: The Preliminary Study

Abstract

Abstract. We developed a 1-DOF power assist robot to lower objects from higher position to lower position. Subjects lowered objects of different sizes with the robot and we analyzed heaviness perception, load force, motions (displacement, velocity, acceleration) etc. We determined a psychophysical relationship between actual heaviness and perceived heaviness for objects lowered with the robot system. We tried to identify some control parameters from the analytical results, and proposed them to be used to determine and develop an appropriate control scheme for power assist robots for lowering heavy objects in various industries. This paper reports the preliminary study results on this issue.