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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
Joint Authors
Rahman, S. M. Mizanoor
Ikeura, Ryojun
Source
Advances in Human-Computer Interaction
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-12-31
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-495309