DocumentCode
2502290
Title
Stability and performance of robotic systems worn by humans
Author
Kazerooni, H.
Author_Institution
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
558
Abstract
The dynamics and control of robotic systems worn by humans are analyzed. General models for the human, the extender, and the interaction between the human and the extender are developed. The stability of the system of human, extender, and object being manipulated is analyzed, and the conditions for stable maneuvers are derived. An expression for the extender performance is defined to quantify the force augmentation. The tradeoff between stability and performance is described. The theoretical predictions are verified experimentally
Keywords
dynamics; man-machine systems; robots; stability; dynamics; force augmentation; human worn robotic systems; man-machine systems; models; performance measures; stability; Actuators; Automatic control; Control systems; Humans; Manipulators; Master-slave; Mechanical engineering; Robotics and automation; Robots; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126039
Filename
126039
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