Human Cooperative Wheelchair for Haptic Interaction Based on Dual Compliance Control

Seiichiro Katsura, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

109 Citations (Scopus)


A human and a robot will carry out a task which is not attainable by themselves. In particular, a human recognizes environment and plans his trajectory without collision with obstacles. On the other hand, a robot generates a controlled force more than a human. In this paper, the best combination of human ability and robot capacity is considered. Based on force commands from a human, a robot supports it. A reaction torque observer is implemented in a robot to observe an environmental disturbance. Environmental disturbance is classified into translational and rotational direction modes. As a result, adaptive force control in each mode is attained. Dual compliance control is applied to a wheelchair. A wheelchair that has the abilities of power-assist and relaxation of contact force is developed in this paper. As a result, operationality and stability are improved. The numerical and experimental results show the viability of the proposed method.

Original languageEnglish
Pages (from-to)221-228
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - 2004 Feb


  • Compliance control
  • Disturbance observer
  • Haptics
  • Human-robot interaction
  • Sensorless force control
  • Wheelchair

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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