Abstract
To assist human motion in the fields of rehabilitation and sports training, we propose a passive motion support system consisting of wires with servo brakes and a control method to guide the human hand. However, passive systems sometimes cannot generate enough force to guide the human hand along the desired path because the servo brakes cannot generate a driving force and the system does not have enough brake units to generate the desired force. In this paper, we theoretically consider the feasible braking force region of a passive system with multiple brake units and discuss the number of brake units required to generate the desired force appropriately. We also develop a system based on our analysis of the feasible braking force and conduct path-following experiments. The experimental results illustrate the validity of a passive motion support system consisting of wires with servo brakes.
| Original language | English |
|---|---|
| Title of host publication | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 |
| Pages | 4272-4277 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2011 Dec 1 |
| Event | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 2011 May 9 → 2011 May 13 |
Other
| Other | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 |
|---|---|
| Country/Territory | China |
| City | Shanghai |
| Period | 11/5/9 → 11/5/13 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering