Variable power assist control of twin direct-drive motor system based on human stiffness estimation

Chowarit Mitsantisuk, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents a novel sensor-less force control approach for the robot-assisted motion of human arm movements. The twin direct-drive motor system with wire rope mechanism has been developed in order to provide precise force sensation for human-robot interaction. The proposed control is obtained by using two disturbance observers combined with modal space design. In the common mode of modal space design, each motor has almost the same characteristics of the friction effect and other nonlinearity. Therefore, it is easy for the proposed system to compensate these nonlinear effects. Moreover, the bandwidth and the stiffness of mechanism can be enlarged by increasing the wire rope tension command. In the differential mode, the purity of human external force with compensation of friction force is obtained based on modal space design. This mode is useful for control interaction force of human arm movements. Variable powers assist control method based on a real-time estimation of the stiffness of the human arms is also introduced. By considering the stiffness of human arm movements, this method increases the efficiency of force control system and realizes comfortable force for human-robot interaction. The effectiveness of the method is verified by experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages520-525
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

Fingerprint

Power Control
Wire rope
Stiffness
Human robot interaction
Force control
Human-robot Interaction
Force Control
Friction
Sensorless Control
Disturbance Observer
Robots
Bandwidth
Control systems
Nonlinear Effects
Sensors
Robot
Control System
Human
Nonlinearity
Real-time

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Mitsantisuk, C., Katsura, S., & Ohishi, K. (2008). Variable power assist control of twin direct-drive motor system based on human stiffness estimation. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 520-525). [4516121] https://doi.org/10.1109/AMC.2008.4516121

Variable power assist control of twin direct-drive motor system based on human stiffness estimation. / Mitsantisuk, Chowarit; Katsura, Seiichiro; Ohishi, Kiyoshi.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 520-525 4516121.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mitsantisuk, C, Katsura, S & Ohishi, K 2008, Variable power assist control of twin direct-drive motor system based on human stiffness estimation. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516121, pp. 520-525, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516121
Mitsantisuk C, Katsura S, Ohishi K. Variable power assist control of twin direct-drive motor system based on human stiffness estimation. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 520-525. 4516121 https://doi.org/10.1109/AMC.2008.4516121
Mitsantisuk, Chowarit ; Katsura, Seiichiro ; Ohishi, Kiyoshi. / Variable power assist control of twin direct-drive motor system based on human stiffness estimation. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 520-525
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