Simulation of pneumatic hand crane type power assist system

In this study, a simulation of a pneumatic hand crane for work support is developed for a system design. The mathematical model of the hand crane consists of a pneumatic cylinder model, a link model of the crane and a controller which includes a human model to enable the hand crane to be operated passively by the operation force. The human model consists of an inverse system that learns by using a neural network. The validity of the simulation was examined by comparison with measurements results from the operation force and acceleration, and thus the performance of the hand crane was evaluated.