scholarly journals Impedance Control for a Power Assist Device Considering Stability of Contact Tasks

2004 ◽  
Vol 2004 (0) ◽  
pp. 55 ◽  
Author(s):  
H Kato ◽  
R Ikeura ◽  
H Nakamura ◽  
K Mizutani
Keyword(s):  
Impedance Control ◽  
Assist Device ◽  
Contact Tasks

scholarly journals Impedance Control for an Industrial Power Assist Device Considering Contact Operations

2006 ◽  
Vol 72 (714) ◽  
pp. 514-521 ◽  
Author(s):  
Hirayuki KATO ◽  
Ryojun IKEURA ◽  
Shinpei NOGUCHI ◽  
Kazuki MIZUTANI ◽  
Hisashi NAKAMURA ◽  
...  
Keyword(s):  
Impedance Control ◽  
Assist Device

A Study on a Power Assist Device Using Impedance Control

2003 ◽  
Vol 2003.52 (0) ◽  
pp. 311-312
Author(s):  
Ryota HAYASHI ◽  
Hiroyuki KATO ◽  
Ryojun IKEURA ◽  
Hisashi NAKAMURA ◽  
Kazuki MIZUTANI
Keyword(s):  
Impedance Control ◽  
Assist Device

scholarly journals Bilateral Teleoperation with Adaptive Impedance Control for Contact Tasks

2021 ◽  
pp. 1-1
Author(s):  
Youssef Michel ◽  
Rahaf Rahal ◽  
Claudio Pacchierotti ◽  
Paolo Robuffo Giordano ◽  
Dongheui Lee
Keyword(s):  
Impedance Control ◽  
Bilateral Teleoperation ◽  
Adaptive Impedance Control ◽  
Contact Tasks

Impedance control of a compression cardiac assist device

2003 ◽  
Author(s):  
G. Davies ◽  
M.C. Levesley ◽  
P.G. Walker ◽  
M.D. Brown ◽  
K. Watterson
Keyword(s):  
Impedance Control ◽  
Assist Device ◽  
Cardiac Assist ◽  
Cardiac Assist Device

Caretaker-Machine Collaborative Manipulation With an Advanced Hydraulically Actuated Patient Transfer Assist Device

2014 ◽  
Author(s):  
Heather C. Humphreys ◽  
Wayne J. Book ◽  
James D. Huggins ◽  
Brittney Jimerson
Keyword(s):  
Needs Assessment ◽  
Interface Design ◽  
Spinal Cord Injuries ◽  
Impedance Control ◽  
Neuromuscular Disorders ◽  
Patient Transfer ◽  
Assist Device ◽  
Unique Challenge ◽  
Control Approach ◽  
Hydraulically Actuated

A significant market need has been identified for an improved assist device for transferring mobility limited patients, particularly those who are heavier or bariatric. This paper discusses our needs assessment for a new patient transfer assist device (PTAD), an initial design for a multiple degree of freedom hydraulically actuated device, and possible solutions for the caretaker interface design. The relevant patient population includes those with spinal cord injuries, neuromuscular disorders, and the elderly; most patients are wheelchair users and unable to perform independent transfers. The caretaker interface design for the PTAD presents a unique challenge in terms of human-machine collaborative manipulation, as well as control of a powerful and intrinsically stiff machine in a delicate environment with both the caretaker and patient in the workspace. This paper presents a needs assessment to determine the specific problems with the antiquated current market patient lifts, as well as user input on proposed improvements. It also presents the design of a functional first prototype PTAD, a mechanical simulation, preliminary simulation results on an impedance control approach, and next steps toward design and implementation of a caretaker- and patient-friendly operator interface and control system.

scholarly journals 3E3-05 Study on Improving the Maneuverability of a Power Assist Device with Impedance Control

2006 ◽  
Vol 2006 (0) ◽  
pp. 315-316
Author(s):  
Chiaki EBISU ◽  
Ryojun IKEURA ◽  
Yusuke SHIRAKAWA ◽  
Kazuki MIZUTANI ◽  
Hisashi NAKAMURA ◽  
...  
Keyword(s):  
Impedance Control ◽  
Assist Device

Planar Peg-in-Hole Insertion Using a Stiffness Controllable Pneumatic Manipulator

2005 ◽  
Author(s):  
Yong Zhu ◽  
Eric J. Barth
Keyword(s):  
Sliding Mode ◽  
Impedance Control ◽  
Load Cell ◽  
Experimental Results ◽  
Impedance Parameters ◽  
Spool Valves ◽  
Intrinsic Stiffness ◽  
Cell Force ◽  
Control Methodology ◽  
Contact Tasks

This paper presents a method for the impedance control of a pneumatic manipulator for peg-in-hole tasks without using a load cell. The control methodology presented contains a sliding mode force controller and an adaptive pressure summation relationship, which enforces the controllable natural stiffness of the pneumatic actuator. This is accomplished by utilizing two three-way proportional spool valves for each degree-of-freedom instead of a four-way valve typically used in fluid power control. Combinations of intrinsic stiffness provided by the compressibility of air and closed-loop stiffness provided by impedance parameters are studied. Experimental results are shown demonstrating that gentle transition from non-contact to contact tasks can be achieved without the use of a load cell by taking advantage of the intrinsically low stiffness of a pneumatic manipulator. Experimental results are also shown demonstrating sensorless (no load cell) force-guided insertion of a planar peg-in-hole task with position uncertainties (hole location not precisely known).

Adaptive Impedance Control for Robot Based on Estimation of Environmental Parameters

2011 ◽  
Vol 328-330 ◽  
pp. 1713-1716 ◽  
Author(s):  
Zhan Ming Li ◽  
Er Chao Li
Keyword(s):  
Neural Network ◽  
Bp Neural Network ◽  
Impedance Control ◽  
Environmental Parameters ◽  
Changing Environment ◽  
Unknown Environment ◽  
Adaptive Impedance Control ◽  
Impedance Parameters ◽  
The One ◽  
Contact Tasks

In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown environment. Some impedance controllers are designed for several representative environmental parameters, A BP neural network is proposed to determine the one-to-one mapping relations between the environmental parameters and the impedance parameters. However, it is difficult to accurately know the environmental parameters in the case of a changing environment, RLS is proposed to estimate environmental parameters, then determine the impedance coefficients to control the robot. Simulations prove that the controller designed is feasible and effective.

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