Title :
Multi-portal human interface
Author :
SHIBUKAWA, Fumiya ; Tanaka, Takayuki ; Kaneko, Shun Ichi
Author_Institution :
Hokkaido Univ., Sapporo, Japan
Abstract :
In this study, we propose a multi-portal human interface (M-HI) as an innovative human interface for power assist systems. M-HI allows users to apply force anywhere in the power assist system. This paper describes the concept, the design, the algorithm and possible applications of M-HI. In addition, this paper demonstrates the effectiveness of M-HI with respect to expanding the maneuverable workspace of power assist systems containing multi-DOF manipulators.
Keywords :
force control; manipulators; motion control; user interfaces; M-HI system; multiDOF manipulators; multiportal human interface; power assist systems; Algorithm design and analysis; End effectors; Force control; Fuzzy systems; Humans; Iron; Position control;
Conference_Titel :
Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
Conference_Location :
Porto
Print_ISBN :
978-1-4244-4648-3
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2009.5415089
