Improvement in the Performance of Passive Motion Support System with Wires Based on Analysis of Brake Control
To assist human motion in the fields of rehabilitation and sports training, we propose a passive motion support system consisting of wires with servo brakes and a control method to guide the human hand. However, passive systems sometimes cannot generate enough force to guide the human hand along the desired path because the servo brakes cannot generate a driving force and the system does not have enough brake units to generate the desired force. In this paper, we theoretically consider the feasible braking force region of a passive system with multiple brake units and discuss the number of brake units required to generate the desired force appropriately. We also develop a system based on our analysis of the feasible braking force and conduct pathfollowing experiments. The experimental results illustrate the validity of a passive motion support system consisting of wires with servo brakes.
Yasuhisa Hirata Keitaro Suzuki Kazuhiro Kosuge
Department of Bioengineering and Robotics,Tohoku University,6-6-01,Aoba,Aramaki,Aoba-ku,Sendai 980-8579,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4272-4277
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）