Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans
The objective was to design and implement a weight-perception-based novel control strategy to improve performances when lifting objects with a power assist system by two humans cooperatively. We developed a 1-DOF power assist system for lifting objects. We hypothesized that weight perception due to...
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| Format: | Journal Article |
| Language: | English |
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2013
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| Online Access: | https://hdl.handle.net/10356/98601 http://hdl.handle.net/10220/12465 |
| _version_ | 1811683839801556992 |
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| author | Rahman, S. M. Mizanoor. Ikeura, Ryojun. |
| author2 | IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (4th : 2012 : Rome, Italy) |
| author_facet | IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (4th : 2012 : Rome, Italy) Rahman, S. M. Mizanoor. Ikeura, Ryojun. |
| author_sort | Rahman, S. M. Mizanoor. |
| collection | NTU |
| description | The objective was to design and implement a weight-perception-based novel control strategy to improve performances when lifting objects with a power assist system by two humans cooperatively. We developed a 1-DOF power assist system for lifting objects. 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 is different from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We critically analyzed weight perception, load forces and motion features. We found that the robot reduced the perceived weights of the cooperatively lifted objects to 25% of the actual weights and the applied load forces were 8 times larger than the actually required load forces. Excessive load forces resulted in excessive accelerations that jeopardized system performances. We then implemented a novel control scheme based on human features that 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 humans. |
| first_indexed | 2024-10-01T04:19:07Z |
| format | Journal Article |
| id | ntu-10356/98601 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:19:07Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | ntu-10356/986012020-03-07T12:48:41Z Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans Rahman, S. M. Mizanoor. Ikeura, Ryojun. IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (4th : 2012 : Rome, Italy) DRNTU::Engineering::Mechanical engineering::Robots The objective was to design and implement a weight-perception-based novel control strategy to improve performances when lifting objects with a power assist system by two humans cooperatively. We developed a 1-DOF power assist system for lifting objects. 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 is different from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We critically analyzed weight perception, load forces and motion features. We found that the robot reduced the perceived weights of the cooperatively lifted objects to 25% of the actual weights and the applied load forces were 8 times larger than the actually required load forces. Excessive load forces resulted in excessive accelerations that jeopardized system performances. We then implemented a novel control scheme based on human features that 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 humans. 2013-07-29T06:45:25Z 2019-12-06T19:57:22Z 2013-07-29T06:45:25Z 2019-12-06T19:57:22Z 2012 2012 Journal Article Rahman, S. M. M., & Ikeura, R. (2012). Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. https://hdl.handle.net/10356/98601 http://hdl.handle.net/10220/12465 10.1109/BioRob.2012.6290259 en Proceedings of the IEEE RAS and EMBS international conference on biomedical robotics and biomechatronics © 2012 IEEE. |
| spellingShingle | DRNTU::Engineering::Mechanical engineering::Robots Rahman, S. M. Mizanoor. Ikeura, Ryojun. Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans |
| title | Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans |
| title_full | Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans |
| title_fullStr | Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans |
| title_full_unstemmed | Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans |
| title_short | Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans |
| title_sort | weight perception based novel control for cooperative lifting of objects with a power assist robot by two humans |
| topic | DRNTU::Engineering::Mechanical engineering::Robots |
| url | https://hdl.handle.net/10356/98601 http://hdl.handle.net/10220/12465 |
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