Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects
We developed a 1-DOF power assist robot system for lifting objects by two humans cooperatively. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power-assist because the perceived weight differs from the actual weight. The...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2014
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| Online Access: | https://hdl.handle.net/10356/106186 http://hdl.handle.net/10220/23970 |
| _version_ | 1811684507483373568 |
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| author | Mizanoor Rahman, S. M. Ikeura, Ryojun |
| author2 | Institute for Media Innovation |
| author_facet | Institute for Media Innovation Mizanoor Rahman, S. M. Ikeura, Ryojun |
| author_sort | Mizanoor Rahman, S. M. |
| collection | NTU |
| description | We developed a 1-DOF power assist robot system for lifting objects by two humans cooperatively. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power-assist because the perceived weight differs from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We analyzed human features such as weight perception, load forces, motions etc. We found that the robot reduced the perceived weights to 25% of the actual weights, and the load forces were 8 times larger than the actual requirements. The excessive load forces resulted in excessive accelerations that jeopardized the performances. We then implemented a novel control based on the human features, which was such that a virtual mass exponentially declined from a large value to a small one when subjects lifted objects with the robot and the command velocity exceeded a threshold. The novel control reduced excessive load forces and accelerations and thus enhanced performances in terms of maneuverability, safety etc. The findings may be used to develop power assist robots for manipulating heavy objects in industries that may augment human's abilities and skills and may improve interactions between robots and users. |
| first_indexed | 2024-10-01T04:29:44Z |
| format | Journal Article |
| id | ntu-10356/106186 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:29:44Z |
| publishDate | 2014 |
| record_format | dspace |
| spelling | ntu-10356/1061862020-09-26T21:53:58Z Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects Mizanoor Rahman, S. M. Ikeura, Ryojun Institute for Media Innovation DRNTU::Engineering::Systems engineering We developed a 1-DOF power assist robot system for lifting objects by two humans cooperatively. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power-assist because the perceived weight differs from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We analyzed human features such as weight perception, load forces, motions etc. We found that the robot reduced the perceived weights to 25% of the actual weights, and the load forces were 8 times larger than the actual requirements. The excessive load forces resulted in excessive accelerations that jeopardized the performances. We then implemented a novel control based on the human features, which was such that a virtual mass exponentially declined from a large value to a small one when subjects lifted objects with the robot and the command velocity exceeded a threshold. The novel control reduced excessive load forces and accelerations and thus enhanced performances in terms of maneuverability, safety etc. The findings may be used to develop power assist robots for manipulating heavy objects in industries that may augment human's abilities and skills and may improve interactions between robots and users. Published version 2014-10-07T03:29:19Z 2019-12-06T22:05:58Z 2014-10-07T03:29:19Z 2019-12-06T22:05:58Z 2012 2012 Journal Article Mizanoor Rahman, S. M., & Ikeura, R. Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects. International journal of advanced robotic systems, 9, 118-. 1729-8806 https://hdl.handle.net/10356/106186 http://hdl.handle.net/10220/23970 10.5772/50894 en International journal of advanced robotic systems © 2012 Rahman and Ikeura; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. application/pdf |
| spellingShingle | DRNTU::Engineering::Systems engineering Mizanoor Rahman, S. M. Ikeura, Ryojun Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects |
| title | Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects |
| title_full | Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects |
| title_fullStr | Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects |
| title_full_unstemmed | Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects |
| title_short | Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects |
| title_sort | weight perception based novel control of a power assist robot for the cooperative lifting of light weight objects |
| topic | DRNTU::Engineering::Systems engineering |
| url | https://hdl.handle.net/10356/106186 http://hdl.handle.net/10220/23970 |
| work_keys_str_mv | AT mizanoorrahmansm weightperceptionbasednovelcontrolofapowerassistrobotforthecooperativeliftingoflightweightobjects AT ikeuraryojun weightperceptionbasednovelcontrolofapowerassistrobotforthecooperativeliftingoflightweightobjects |