TY - JOUR
T1 - Human Cooperative Wheelchair for Haptic Interaction Based on Dual Compliance Control
AU - Katsura, Seiichiro
AU - Ohnishi, Kouhei
N1 - Funding Information:
Manuscript received May 14, 2002; revised May 19, 2003. Abstract published on the Internet November 26, 2003. This work was supported in part by the Ministry of Education, Science, Sports and Culture of Japan under Grant-in-Aid for Scientific Research (A) 14205041, 2002.
PY - 2004/2
Y1 - 2004/2
N2 - 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.
AB - 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.
KW - Compliance control
KW - Disturbance observer
KW - Haptics
KW - Human-robot interaction
KW - Sensorless force control
KW - Wheelchair
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U2 - 10.1109/TIE.2003.821890
DO - 10.1109/TIE.2003.821890
M3 - Article
AN - SCOPUS:1342286896
SN - 0278-0046
VL - 51
SP - 221
EP - 228
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 1
ER -