Power assist systems based on resonance of passive elements

被引：14

作者：

Uemura, Mitsunori ^{[1
]}

Kanaoka, Katsuya ^{[1
]}

Kawamura, Sadao ^{[1
]}

机构：

[1] Ritsumeikan Univ, Dept Robot, Shiga 5258577, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.281965

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes power assist controllers that realize control input minimization using resonance of passive elements. To satisfy the objective, two types of systems are considered and controllers are proposed for each system. These controllers require no biosignals and satisfy causal manner. Convergence of the controllers is discussed theoretically. Simulation results show the validity of the proposed controllers. Experimental results show effectiveness of the proposed controller when the systems are used by a human operator.

引用

页码：4316 / +

页数：2

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