1A1-F25 Design of controller for a Semi-Active Assist Mechanism considering Low-Powered Actuator Limitation

• Rosendo Andre

  Hokkaido University, System Sensing and Control Laboratory

• Nakano Motoki

  Hokkaido University, System Sensing and Control Laboratory

• Tanaka Takayuki

  Hokkaido University, System Sensing and Control Laboratory

• Kaneko Shun'ichi

  Hokkaido University, System Sensing and Control Laboratory

抄録

The purpose of this work is to design a system capable of easily lifting heavy weights through a direct interface between the user and the system itself, receiving signals from the user and using a low-powered actuator connected to a spring to amplify its power, defining the so called Semi-active system. Varying the system weight from 5 to 15 kg it's possible to observe the system's behavior during the Visual Tracking Experiment through different assisting ratios. Simulations are performed using as input a sinusoidal force from the user and results are obtained, effectively reducing the user's fatigue and respecting the actuators limitation using the proposed control method. In the future, this kind of Power Assisting System can be remotely implanted in suits to effectively aid nurses, firefighters, industrial workers and also space missions.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _1A1-F25_1-_1A1-F25_4, 2010

  一般社団法人 日本機械学会

キーワード

• Power Assist System
• Position Control
• Force Control

詳細情報

• CRID: 1390282680912280960
• NII論文ID: 110008741242
• DOI: 10.1299/jsmermd.2010._1a1-f25_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2010/0/2010__1A1-F25_1/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可