Study on Power Assist System. 1st Report. Proposal of a Control Method with Different Assist Ratios for Gravity Load and Dynamic Load.

靖男, 林原; 和雄, 谷江; 裕彦, 荒井

doi:10.1299/kikaic.61.4318

Cited by 7 publications

(2 citation statements)

References 3 publications

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“…A specific example to be considered is supplementing the transport of an object or a supplementary device for putting clothing on the upper limbs. The conventional impedance control method is widely used for this kind of position control-based method [7,8,10], and there has been discussion about improving operation using a design method with better virtual impedance parameters or variable impedance control [11,12].…”

Section: Classification Of the Control Movement Based On Command Valuesmentioning

confidence: 99%

Novel trajectory control for human cooperation robot based on behavior mode switching

Seki

Takahashi

Tadakuma

2007

Electrical Engineering Japan

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SUMMARYThis paper describes a novel trajectory control system for human cooperation robots based on behavior mode switching. Human cooperation robots have the great possibility to serve as useful support systems for elderly people and physically handicapped people and are expected to realize smooth and human-friendly support movements. This study defines three behavior modes in human cooperation motion, and their respective trajectory control systems are designed. In the trajectory design, a minimum jerk model is introduced to realize the smooth and humanfriendly cooperation movements. In addition, the initial value compensation at the mode switching is developed. Some experiments using a two-axis plane robot and performance evaluation by trial subjects show the effectiveness of the proposed trajectory control system.

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Section: Classification Of the Control Movement Based On Command Valuesmentioning

confidence: 99%

Novel trajectory control for human cooperation robot based on behavior mode switching

Seki

Takahashi

Tadakuma

2007

Electrical Engineering Japan

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“…Power assist systems have been developed in a wide range of fields for many years such as space engineering, manufacturing, or nursing (1)- (6) . Although several kinds of actuators are used for these systems, an electric motor is one of common actuators.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control for Electric Power Assist Systems

Yokoyama

Kawasaki

Tsuchiya

2007

JSDD

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This paper presents a nonlinear controller for electric power assist systems based on the sliding mode control. The proposed sliding mode controller is designed to achieve desired nonlinear properties including gravitational effect with robustness against disturbances such as friction force and modeling errors. Furthermore, so-called reaching phase is positively utilized so that the operator can feel disturbance torque of relatively large amplitude which should be noticed as information about environment, for example, when hitting an obstacle accidentally. Although the reaching phase can be designed from several points of view, the dynamics in the reaching phase is linearlized in order to use fruitful linear control theories such as H-infinity theory.

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Evaluation of compensation ratios in a power assist system based on operational sensation

Hayashibara

Tanie²,

Arai³

et al. 1998

Elect. Eng. Jpn.

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Study on Power Assist System. 1st Report. Proposal of a Control Method with Different Assist Ratios for Gravity Load and Dynamic Load.

Cited by 7 publications

References 3 publications

Novel trajectory control for human cooperation robot based on behavior mode switching

Novel trajectory control for human cooperation robot based on behavior mode switching

Sliding Mode Control for Electric Power Assist Systems

Evaluation of compensation ratios in a power assist system based on operational sensation

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