Force sensorless power assist control using operation force observer for nursing lift

Author

Ishihara, Masakazu ; Ito, Kazuaki ; Inuzuka, Katsumi

Author_Institution

Dept. of Electr. & Electron. Eng., Nat. Inst. of Technol., Toyota, Japan

fYear

2015

fDate

6-8 March 2015

Firstpage

216

Lastpage

221

Abstract

This paper proposes a power assist control methodology based on an operation force observer for a nursing lift, where operation force of nurse applying to the nursing lift is estimated using an operation force observer. In order to improve estimation performance for the operation force, a position information based disturbance observer is applied, in which no differentiators are needed to calculate acceleration for the system. As for the power assist algorithm, a position control based power assist system is applied, where the position reference for the nursing lift is generated based on an impedance control method using assist force calculated by the estimated force of nurse. The effectiveness of the proposed power assist system has been verified by experiments using a prototype of a nursing lift.

Keywords

acceleration control; force control; lifts; medical control systems; observers; patient care; position control; assist force; disturbance observer; force sensorless power assist control; impedance control method; nursing lift; operation force observer; position information; power assist system; system acceleration; Force; Frequency modulation; Friction; Mathematical model; Medical services; Observers; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics (ICM), 2015 IEEE International Conference on

Conference_Location

Nagoya

Type

conf

DOI

10.1109/ICMECH.2015.7083977

Filename

7083977