Human cooperative wheelchair for haptic interaction based on dual compliance control
Katsura, S.; Ohnishi, K.
Industrial Electronics, IEEE Transactions on
Volume 51, Issue 1, Feb. 2004 Page(s): 221 - 228
Digital Object Identifier 10.1109/TIE.2003.821890
Summary: 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.
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