Proposal of Skill-Assist: a system of assisting human workers by reflecting their skills in positioning tasks

Yamada, Yoji; Konosu, Hitoshi; Morizono, Tetsuya; Umetani, Yoji

doi:10.1109/icsmc.1999.812368

Cited by 70 publications

(26 citation statements)

References 7 publications

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“…They also supposed that the maneuverability of a human-machine system could be improved by installing human impedance, which measured in the target task with two human operators, into the impedance-controlled robot. Moreover, Yamada et al [10], [11] developed a skill assist system that varies robot impedance properties according to human movements to perform iterative tasks at a constant speed with high quality. However, these previous studies argue mainly on a design approach of robot impedance properties without consideration of the relationship between human force manipulability and operational feeling during tasks.…”

Section: Introductionmentioning

confidence: 99%

Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

Tanaka

Yamada

Nishikawa

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper focuses on a shift operation system of an automobile as an example of human-machine systems, and develops a virtual shift system using a variable-impedance controlled robot that can provide various types of shift dynamics. A series of operational experiments is carried out with different viscoelastic patterns installed in the virtual shift system by changing the relative position between the shift lever and the operator. Then, the relationship between operational feeling and human arm movements is investigated by using the force manipulability considering human joint-torque characteristics.

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Section: Introductionmentioning

confidence: 99%

Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

Tanaka

Yamada

Nishikawa

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…For example, many operators handle and position heavy objects in automotive assembly processes [1]. Taking such a present condition in current manufacturings into account, various power assist systems have been investigated.…”

Section: Introductionmentioning

confidence: 99%

“…One actuator realized the power assist while the other one reduced the vibration. In the study, it was assumed that the power assist was realized by an impedance control method [1], [6]. If the impedance characteristics of the power assisted object are perfectly controlled by the impedance control, the impedance characteristics are known and correspond to the dynamic characteristics of the disturbance for the vibration control.…”

Section: Introductionmentioning

confidence: 99%

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Suboptimal control based output feedback assist control for flexible structures

Hara

Yoshiura

Yamada

et al. 2012

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Power assist systems have been introduced to reduce workers' load in industrial production. The authors have studied on control systems based on the modern control (LQ control) theory for power assisted conveyance of flexible structures. However, the LQ control often requires precise state space modeling of a controlled object and an observer for estimating undetected state variables. Therefore, in general, it is not easy to apply the LQ based controller to many kinds of controlled objects. In order to overcome such a drawback, this paper introduces a practical output feedback control design method based on a simplified vibration system model, a suboptimal control theory, and a robust control system structure based on a disturbance observer and a reaction force controller. As one of the suboptimal control methods, the minimum norm method is utilized to realize a simple output feedback controller. This paper adopts a power assist cart with a one-degree-of-freedom flexible structure as a controlled object example. The effectiveness of the proposed design method is verified by experiments and their corresponding simulations.

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“…For example, many operators handle and position heavy objects in automotive assembly processes (1) . Because of this situation at industrial production sites, various power-assisted systems are being investigated.…”

Section: Introductionmentioning

confidence: 99%

Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects

Hara

Saiki

Yuchi

et al. 2013

JAMDSM

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In many linear quadratic (LQ) optimal regulator problems, the tuning of design parameters such as weighting coefficients in the criterion function depends on trial-and-error simulations. In this note, an LQ optimal regulator is used to prevent tumbling from power-assisted carts. The cart has two actuators: a DC servomotor that drives the cart, where power assistance is realized by impedance control of the motor; and a linear motor actuator to prevent the conveyed objects from tumbling. This note mainly discusses a systematic LQ optimal regulator design method for the latter actuator. The relationships between the feedback gain tuning of the tumble prevention actuator and controlled object responses were examined by simulation. Actual feedback gains were then determined by gain scheduling of the gains obtained a priori based on the relationships, control specifications and constraints. The effectiveness of the design method was verified by simulation examples.

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Proposal of Skill-Assist: a system of assisting human workers by reflecting their skills in positioning tasks

Cited by 70 publications

References 7 publications

Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

Suboptimal control based output feedback assist control for flexible structures

Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects

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