| 言語種別 | 英語 |
|---|---|
| 発行・発表の年月 | 2012/10 |
| 形態種別 | 国際会議論文 |
| 査読 | 査読あり |
| 標題 | Development and Evaluation of Add-On End-Effector for Linear Power Assist Unit with Variable Assist Gain |
| 執筆形態 | 共著 |
| 掲載誌名 | Proc. of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 掲載区分 | 国外 |
| 出版社・発行元 | IEEE/RSJ |
| 巻・号・頁 | 3921-3928 |
| 著者・共著者 | Marina Kaneko, Taishi Kitano, Takahiro Wakatabe, Norihiro Kamamichi, and Jun Ishikawa |
| 概要 | This paper proposes a linear power assist unit to be simply designed by using an add-on end-effector and gives a controller design for the unit explicitly taking into consideration mechanical impedances of both a human operator and environment. Experimental results showed that the prototype has robustly worked well against perturbations of the environment, keeping the power assist control bandwidth about 1 to 3 Hz, and the validity of the variable assist gain control has also confirmed. |