Development of an easy-to-manipulate assistive cart system using an observer based impedance control

Author

Hosun Lee ; Chuklmin Kwon ; Geunho Lee ; Sungmoon Jeong ; Nak-Young Chong

Author_Institution

Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa, Japan

fYear

2013

fDate

Oct. 30 2013-Nov. 2 2013

Firstpage

255

Lastpage

256

Abstract

In this paper, we develop an assistive cart that allows users to transport heavy load with lower effort. Our focus is placed on how to design and control the assistive cart to provide reliable user-cart interactions regardless of the condition changes of the loaded weight and the ground. For this purpose, Force/Torque sensor and two motorized wheels are equipped on a conventional cart to response to the user´s operation by sensing the input force and generating the assist force. The observer-based impedance control is designed to compute the assistive force with the input force of the user and the velocity of the cart. We verify the validity of the developed assistive cart by comparing the performance of the empty-cart case and the loaded-cart case.

Keywords

force control; force sensors; human-robot interaction; materials handling equipment; mobile robots; observers; service robots; assist force generation; easy-to-manipulate assistive cart system; empty-cart case; force sensor; heavy load transport; input force sensing; loaded-cart case; motorized wheels; observer based impedance control; robotic carts; torque sensor; user-cart interactions; assistive cart; easy maneuverability; force assist; human-robot interaction; impedance control;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on

Conference_Location

Jeju

Print_ISBN

978-1-4799-1195-0

Type

conf

DOI

10.1109/URAI.2013.6677360

Filename

6677360