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. |