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Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method
المؤلفون المشاركون
Rahman, S. M. Mizanoor
Ikeura, Ryojun
المصدر
Advances in Human-Computer Interaction
العدد
المجلد 2012، العدد 2012 (31 ديسمبر/كانون الأول 2012)، ص ص. 1-12، 12ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2012-12-31
دولة النشر
مصر
عدد الصفحات
12
التخصصات الرئيسية
الملخص EN
Power assist systems are usually used for rehabilitation, healthcare, and so forth.This paper puts emphasis on the use of power assist systems for object transfer and thus brings a novelty in the power-assist applications.
However, the interactions between the systems and the human users are usually not satisfactory because human features are not included in the control design.
In this paper, we present the development of a 1-DOF power assist system for horizontal transfer of objects.
We included human features such as weight perception in the system dynamics and control.
We then simulated the system using MATLAB/Simulink for transferring objects with it and (i) determined the optimum maneuverability conditions for object transfer, (ii) determined psychophysical relationships between actual and perceived weights, and (iii) analyzed load forces and motion features.
We then used the findings to design a novel adaptive control scheme to improve the interactions between the user and the system.
We implemented the novel control (simulated the system again using the novel control), the subjects evaluated the system, and the results showed that the novel control reduced the excessive load forces and accelerations and thus improved the human-system interactions in terms of maneuverability, safety, and so forth.
Finally, we proposed to use the findings to develop power assist systems for manipulating heavy objects in industries that may improve interactions between the systems and the users.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Rahman, S. M. Mizanoor& Ikeura, Ryojun. 2012. Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method. Advances in Human-Computer Interaction،Vol. 2012, no. 2012, pp.1-12.
https://search.emarefa.net/detail/BIM-495309
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Rahman, S. M. Mizanoor& Ikeura, Ryojun. Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method. Advances in Human-Computer Interaction No. 2012 (2012), pp.1-12.
https://search.emarefa.net/detail/BIM-495309
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Rahman, S. M. Mizanoor& Ikeura, Ryojun. Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method. Advances in Human-Computer Interaction. 2012. Vol. 2012, no. 2012, pp.1-12.
https://search.emarefa.net/detail/BIM-495309
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-495309
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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