Assist system for carrying a long object with a human-analysis of a human cooperative behavior in the vertical direction

Author

Hayashibara, Yasuo ; Takubo, Tomohito ; Sonoda, Yukinobu ; Arai, Hirohiko ; Tanie, K.

Author_Institution

Dept. of Control & Syst. Eng., Toin Univ., Yokohama, Japan

Volume

2

fYear

1999

fDate

1999

Firstpage

695

Abstract

Deals with an assist system for carrying a long object with a human operator. When we carry such an object, we often grasp both ends and move it cooperatively. Our purpose is to establish how to design the assist system which can achieve such a task. It is difficult to apply conventional control laws. On the other hand, humans can achieve such a task. Therefore, we measure the human cooperative behaviors and analyze them to find the cooperative rules. Based on the rules, we propose a control law of the assist system. Furthermore, we construct a prototype system and verify the validity of the control law

Keywords

man-machine systems; manipulators; materials handling; mobile robots; position control; velocity control; assist system; cooperative rules; human cooperative behavior; long object; Anthropometry; Computer displays; Control systems; Force measurement; Force sensors; Humans; Prototypes; Robot sensing systems; Systems engineering and theory; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.812761

Filename

812761