Home // CENTRIC 2012, The Fifth International Conference on Advances in Human-oriented and Personalized Mechanisms, Technologies, and Services // View article

Interference Force Reduction for Power Assist Systems Controlled at Arbitrary Operational Point

Authors:
Fumiya Shibukawa
Takayuki Tanaka
Shun'ichi Kaneko

Keywords: Human robot interaction, User interfaces, Manipulator dynamics.

Abstract:
In this study, we propose an innovative multiportal human interface (M-HI) for power assist systems (PASs). This M-HI allows users to apply an operational force anywhere on the PAS. Because of this, the workspace of the PAS is extended and its end-effecter can be controlled as user wishes.However, when users control a PAS at an intermediate joint,this joint does not always move in the same way as the end-effecter does.In this paper, we consider the number of links and degrees of freedom of a multilink manipulator.The relation between a control point and the limit of its motion is measured and analyzed.An operational position harmonization method is proposed through this relation.This method enables users to more accurately control the end-effector of a 3-link manipulator PAS at its intermediate joint.

Pages: 133 to 138

Copyright: Copyright (c) IARIA, 2012

Publication date: November 18, 2012

Published in: conference

ISSN: 2308-3492

ISBN: 978-1-61208-232-5

Location: Lisbon, Portugal

Dates: from November 18, 2012 to November 23, 2012