Search results
1 – 3 of 3Daisuke Chugo, Kuniaki Kawabata, Hiroyuki Okamoto, Hayato Kaetsu, Hajime Asama, Norihisa Miyake and Kazuhiro Kosuge
The aim is to develop a force assistance system for standing‐up which prevents the decreasing of physical strength of the patient by using their remaining physical strength.
Abstract
Purpose
The aim is to develop a force assistance system for standing‐up which prevents the decreasing of physical strength of the patient by using their remaining physical strength.
Design/methodology/approach
The system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. For using the remaining physical strength, our system uses the motion pattern which is based on the typical standing up motion by nursing specialist as control reference.
Findings
The assistance system realizes the natural standing up motion by nursing specialist and it is effective to assist the aged person to stand up without reducing their muscular strength.
Originality/value
The first idea is distributed system which controls the support bar and the bed system with coordination among them. The second idea is the combination of force and position control.
Details
Keywords
Zongwu Xie, Cao Li and Hong Liu
The aim of this paper is to prove that the manipulator is able to contact the environment compliantly, and reduce the instantaneous collision impact.
Abstract
Purpose
The aim of this paper is to prove that the manipulator is able to contact the environment compliantly, and reduce the instantaneous collision impact.
Design/methodology/approach
Cartesian impedance control law is introduced to interrelate the external force with the Cartesian position.
Findings
When the estimated external force sensor feedback is the input of the on‐line trajectory regeneration, a novel online motion plan could be performed in a task‐consistent manner keeping the interaction force within the acceptable tolerance. The proposed approach also proves that the manipulator is able to contact the environment compliantly, and reduce the instantaneous collision impact. The virtual decomposition control, simplifying the Cartesian impedance control application of the manipulator and guaranteeing the asymptotical stability of the entire system, is implemented to actualize the approach. Furthermore, adaptive dynamics joint controller is extended to all the joints for complementing the biggish friction.
Originality/value
With the proposed adaptive Cartesian impedance control and the online path planner, the robot will be manipulation‐friendly in an unstructured environment.
Details