Please use this identifier to cite or link to this item:
https://hdl.handle.net/10356/99581
Title: | A human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot | Authors: | Rahman, S. M. Mizanoor. Ikeura, Ryojun. |
Issue Date: | 2012 | Conference: | IEEE International Symposium on Robot and Human Interactive Communication (21st : 2012 : Paris, France) | Abstract: | In this paper, we present the design and evaluation of a novel control method for a power assist robotic system for manipulating objects with it by human subjects. We consider the manipulation of objects in harmonic motion (object is lifted up and lowered down repeatedly) as we think that this motion may be very practical and useful in object manipulation. We develop a 1 DOF power assist system. The subjects manipulate different sizes of objects with the system in harmonic motion. We analyze human characteristics such as weight perception, load force, object motions etc. We find that the load force and acceleration are excessive that reduce the performances of the system. We then optimize the perceived heaviness. We then design and implement a novel control method based on human characteristics to reduce load force and acceleration. Results show that the novel control reduces load force and acceleration, optimizes perceived heaviness and thus makes the performances (maneuverability, safety etc.) satisfactory. We also compare this novel control designed for object manipulation in harmonic motion to another novel control designed for lifting objects with power-assist in linear vertical motion. Finally, we propose to use the findings to develop control method for power assist devices for manipulating heavy objects in industries that may enhance interactions between humans and robots. | URI: | https://hdl.handle.net/10356/99581 http://hdl.handle.net/10220/13018 |
DOI: | 10.1109/ROMAN.2012.6343740 | Fulltext Permission: | none | Fulltext Availability: | No Fulltext |
Appears in Collections: | IMI Conference Papers |
SCOPUSTM
Citations
50
2
Updated on Mar 3, 2024
Page view(s) 5
992
Updated on Mar 18, 2024
Google ScholarTM
Check
Altmetric
Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.