Improvement in the performance of passive motion support system with wires based on analysis of brake control

Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge

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

4 Citations (Scopus)

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 languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages4272-4277
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 2011 May 92011 May 13

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/TerritoryChina
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Improvement in the performance of passive motion support system with wires based on analysis of brake control'. Together they form a unique fingerprint.

Cite this