Title :
Stability analysis and experiments for a force augmenting device
Author :
Gadi, Suresh K. ; Lozano, Rogelio ; Garrido, Ruben ; Osorio, Antonio
Author_Institution :
Dept. of Autom. Control, CINVESTAV, Mexico City, Mexico
Abstract :
We present preliminary results of a one degree of freedom (DOF) linear moving force augmenting device (FAD) with a force sensor for enhancing the lifting capabilities of a human user. We perform a stability test of the feedback loop formed by the device and a model of the human operator. It is shown that the operator lifts a small fraction of the total weight of the load. The proposed control scheme is illustrated using numerical simulations and an experiment.
Keywords :
force feedback; force sensors; lifting equipment; stability; FAD; feedback loop; force sensor; lifting capability enhancement; load handling; numerical simulation; one-DOF linear moving force augmenting device; one-degree of freedom linear moving force augmenting device; stability analysis; Force; Force sensors; Humans; Mathematical model; Stability analysis; Torque; Trajectory; Exoskeleton; force augmenting device; load handling;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4673-2170-9
DOI :
10.1109/ICEEE.2012.6421189
