A controller system design for pneumatic-powered motion assist device using a load observer
This paper proposes a control system design for an exoskelton motion assist device for workers engaged in physically demanding jobs. The exoskelton is designed to provide supports to 1 degree of freedom rotational motion of shoulder and elbow joints and it uses McKibben pneumatic actuators as its po...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2015-02-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/81/824/81_14-00579/_pdf/-char/en |
| _version_ | 1811224917666955264 |
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| author | Hiroyoshi MURATA Takuya OKADA Syota YAMAHIRA Ryohei HARADA Fumitake FUJII |
| author_facet | Hiroyoshi MURATA Takuya OKADA Syota YAMAHIRA Ryohei HARADA Fumitake FUJII |
| author_sort | Hiroyoshi MURATA |
| collection | DOAJ |
| description | This paper proposes a control system design for an exoskelton motion assist device for workers engaged in physically demanding jobs. The exoskelton is designed to provide supports to 1 degree of freedom rotational motion of shoulder and elbow joints and it uses McKibben pneumatic actuators as its power source. Key technical consideration in the control system design should be put on assuring good transient response of the device against the intention of the user wearing the device, while simultaneously providing sufficient force/torque to balance unknown loads. This paper presents two degrees of freedom control system which fully utilizes the improved version of the phenomenological dynamic model of McKibben actuators which has been proposed by the authors recently. Results of the load carry experiments indicate the effectiveness of the proposed control system. |
| first_indexed | 2024-04-12T08:56:54Z |
| format | Article |
| id | doaj.art-3f077251b9ef41e69c21c006a16dadc5 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-12T08:56:54Z |
| publishDate | 2015-02-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-3f077251b9ef41e69c21c006a16dadc52022-12-22T03:39:21ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612015-02-018182414-0057914-0057910.1299/transjsme.14-00579transjsmeA controller system design for pneumatic-powered motion assist device using a load observerHiroyoshi MURATA0Takuya OKADA1Syota YAMAHIRA2Ryohei HARADA3Fumitake FUJII4Graduate School of Science and Engineering, Yamaguchi UniversityGraduate School of Science and Engineering, Yamaguchi UniversityGraduate School of Science and Engineering, Yamaguchi UniversityFaculty of Engineering, Yamaguchi UniversityGraduate School of Science and Engineering, Yamaguchi UniversityThis paper proposes a control system design for an exoskelton motion assist device for workers engaged in physically demanding jobs. The exoskelton is designed to provide supports to 1 degree of freedom rotational motion of shoulder and elbow joints and it uses McKibben pneumatic actuators as its power source. Key technical consideration in the control system design should be put on assuring good transient response of the device against the intention of the user wearing the device, while simultaneously providing sufficient force/torque to balance unknown loads. This paper presents two degrees of freedom control system which fully utilizes the improved version of the phenomenological dynamic model of McKibben actuators which has been proposed by the authors recently. Results of the load carry experiments indicate the effectiveness of the proposed control system.https://www.jstage.jst.go.jp/article/transjsme/81/824/81_14-00579/_pdf/-char/enmotion assistmckibben pneumatic actuatorcontrol system designmotion intentionload observer |
| spellingShingle | Hiroyoshi MURATA Takuya OKADA Syota YAMAHIRA Ryohei HARADA Fumitake FUJII A controller system design for pneumatic-powered motion assist device using a load observer Nihon Kikai Gakkai ronbunshu motion assist mckibben pneumatic actuator control system design motion intention load observer |
| title | A controller system design for pneumatic-powered motion assist device using a load observer |
| title_full | A controller system design for pneumatic-powered motion assist device using a load observer |
| title_fullStr | A controller system design for pneumatic-powered motion assist device using a load observer |
| title_full_unstemmed | A controller system design for pneumatic-powered motion assist device using a load observer |
| title_short | A controller system design for pneumatic-powered motion assist device using a load observer |
| title_sort | controller system design for pneumatic powered motion assist device using a load observer |
| topic | motion assist mckibben pneumatic actuator control system design motion intention load observer |
| url | https://www.jstage.jst.go.jp/article/transjsme/81/824/81_14-00579/_pdf/-char/en |
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