Human cooperative wheelchair for haptic interaction based on dual compliance control

被引：77

作者：

Katsura, S ^{[1
]}

Ohnishi, K ^{[1
]}

机构：

[1] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa 2238522, Japan

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2004年 / 51卷 / 01期

关键词：

compliance control; disturbance observer; haptics; human-robot interaction; sensorless force control; wheelchair;

D O I：

10.1109/TIE.2003.821890

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：221 / 228

页数：8

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