Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/106186
Title: Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects
Authors: Mizanoor Rahman, S. M.
Ikeura, Ryojun
Keywords: DRNTU::Engineering::Systems engineering
Issue Date: 2012
Source: Mizanoor Rahman, S. M., & Ikeura, R. Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects. International journal of advanced robotic systems, 9, 118-.
Series/Report no.: International journal of advanced robotic systems
Abstract: We developed a 1-DOF power assist robot system for lifting objects by two humans cooperatively. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power-assist because the perceived weight differs from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We analyzed human features such as weight perception, load forces, motions etc. We found that the robot reduced the perceived weights to 25% of the actual weights, and the load forces were 8 times larger than the actual requirements. The excessive load forces resulted in excessive accelerations that jeopardized the performances. We then implemented a novel control based on the human features, which was such that a virtual mass exponentially declined from a large value to a small one when subjects lifted objects with the robot and the command velocity exceeded a threshold. The novel control reduced excessive load forces and accelerations and thus enhanced performances in terms of maneuverability, safety etc. The findings may be used to develop power assist robots for manipulating heavy objects in industries that may augment human's abilities and skills and may improve interactions between robots and users.
URI: https://hdl.handle.net/10356/106186
http://hdl.handle.net/10220/23970
ISSN: 1729-8806
DOI: 10.5772/50894
Rights: © 2012 Rahman and Ikeura; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:IMI Journal Articles

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