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

Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ4272-4277
ページ数6
DOI
出版ステータスPublished - 2011 12 1
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
継続期間: 2011 5 92011 5 13

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
国/地域China
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 人工知能
  • 電子工学および電気工学

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