Title :
A dynamic model of power-assistive machinery with high strength-amplification
Author :
Okubo, Atsushi ; Kiyama, Tsuyoshi ; Osuka, Koichi ; Shirogauchi, Go ; Oya, Reishi ; Fujimoto, Hiromichi
Author_Institution :
Osaka Univ., Suita, Japan
Abstract :
In this paper, a dynamic model of the hand of a power-assistive machinery is derived in pursuit of deriving a full-body model. The viscous friction coefficient and the coulomb friction force are identified from experimental data, and it is confirmed that the dynamic model is appropriate via simulation.
Keywords :
friction; industrial robots; loading equipment; machinery; coulomb friction force; dynamic model; full-body model; high strength-amplification; power-assistive machinery; viscous friction coefficient; Dynamics; Equations; Force; Friction; Joints; Load modeling; Mathematical model; Exoskeleton; Power Assist; Powered suit; Strength-amplification Machinery;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
