Upper-Limb Power-Assist Control for Agriculture Load Lifting

Yagi, Eiichi; Harada, Daisuke; Kobayashi, Masaaki

doi:10.20965/ijat.2009.p0716

Cited by 44 publications

(30 citation statements)

References 7 publications

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“…Because pneumatic actuators have compliance, they are widely researched for human support devices [1][2][3][4][5]. Recently, the actuators are examined as the application of artificial muscles and soft actuators [6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Optimization of orifice position in particle-excitation valve for proportional flow control

et al. 2017

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This paper reports an improvement of the particle-excitation flow control valve. The valve that we have designed in previous reports can control air flow, using particle excitation by piezoelectric resonance, and has the following advantages: small size, lightweight, high response and continuous airflow control. However, in our previous models, the relationship between the driving voltage and the flow quantity was nonlinear. In this report, we improved the valve to realize proportional flow control. The valve consists of the orifice plate, that has some orifices, and steel particles to seal the orifices and piezoelectric transducer. It controls air flow by the voltage applied to the transducer. For proportional flow control, it is important to adjust the orifice position adequately. In this report, we optimized the orifice position, considering resonance condition of the valve. We designed the experimental prototype using a boltclamped Langevin type transducer and decided orifice position. And we evaluated its vibration properties and flowrate characteristics. The experimental results showed that our designed prototype can proportionally control airflow.

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Section: Introductionmentioning

confidence: 99%

Optimization of orifice position in particle-excitation valve for proportional flow control

et al. 2017

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“…To reduce the worker's physical load, wearable support systems for the heavy work have researched and developed [3]- [5]. However, these studies focus on works performed under the head such as the lifting and carrying work with heavy loads.…”

Section: Introductionmentioning

confidence: 99%

Development of motion control algorithm for upper limb support system based on bioelectrical signals for heavy work over head

Fujita

Sankai

2015

2015 IEEE/SICE International Symposium on System Integration (SII)

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At demolition or construction sites, workers have to handle heavy tools and materials over head. It is difficult to continue such works, and the work efficiency will be reduced. In order to continue these heavy works for a long time, we have developed a wearable upper limb support system for the heavy work over head. In the actual works, it is necessary for the system to perform motion support in synchronization with motor intention of wearer. Bioelectrical signals (BES) are effective as the motor intention of wearer for such the motion support. The purpose of this study is to develop motion control algorithm of upper limb support system based on the BES for heavy work over head, and to confirm the effectiveness of the developed algorithm and the system through evaluation experiments. The system supports wearer's upper limb motion by actuators in each joint of the system. Control phases of the system are changed by the developed algorithm based on BES. The wait phase is switched to the support phase, and the support phase is switched to the wait phase. Evaluation experiments were conducted to confirm the effectiveness of the developed system. In the experiment to assess the performance of the developed algorithm, we measured the switching time of the control phases of the system. In the experiment to assess the effect of the system, a volunteer held a heavy load over head with and without the system, and we measured the holding time. As results, we confirmed that the control phases of the system changed in synchronization with motor intention of the wearer. Moreover, we confirmed that the holding time with the system increased 2.8 times than without the system. In conclusion, we could develop the motion control algorithm of the upper limb support system based on BES for heavy work over head, and confirm that the developed system with the algorithm has effectiveness for continuation of the heavy work over head.

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“…For lifting aids, such a distortion in haptic feedback may also occur when the lifted object rests on the robot, and the human holds this robot (robocentric approach, see left panel of Fig. 1), a popular interacting scheme in many experimental lifting aids and exoskeletons [5], [19]. The human operator will not feel the weight of the object, since this is (partly) compensated by the robot.…”

Section: Introductionmentioning

confidence: 99%

The influence of human-robot interaction order during fast lifting tasks for different levels of weight compensation

Schorsch

Keemink

Stienen

et al. 2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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When human operators employ robotic lifting aids, haptic feedback about the lifted object is important. In an experimental study we manipulated two factors that influence haptic feedback to the operator: the percentage of compensated weight, and the way the lifted object is held: robocentric (the human hand lifting the robot that holds the object) or anthropocentric (the robot lifting the human who holds the object). We hypothesize that directly holding the object (anthropocentric approach) will improve the realized trajectories when rapidly lifting partly compensated weights. Subjects (n=10) performed a fast semi-repetitive lifting task, lifting a 4kg object to a designated target in either an anthropocentric or robocentric lifting scenario, at different levels (50% -75% -95%) of weight compensation. The anthropocentric approach yielded significantly smaller mean over-or under-shoot compared to robocentric lifting, especially for the first trials. The difference increased for higher levels of compensation. We conclude that for fast lifting, the anthropocentric approach better helps subjects to estimate the required forces to move the weight to the target, especially for unexpected movements at high levels of compensation.

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Upper-Limb Power-Assist Control for Agriculture Load Lifting

Cited by 44 publications

References 7 publications

Optimization of orifice position in particle-excitation valve for proportional flow control

Optimization of orifice position in particle-excitation valve for proportional flow control

Development of motion control algorithm for upper limb support system based on bioelectrical signals for heavy work over head

The influence of human-robot interaction order during fast lifting tasks for different levels of weight compensation

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