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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11609

Title: Development of an Easy-to-Manipulate Assistive Cart System Using an Observer Based Impedance Control
Authors: Lee, Hosun
Kwon, Chulmin
Lee, Geunho
Jeong, Sungmoon
Chong, Nak Young
Keywords: Human-robot interaction
Assistive cart
Impedance control
Force assist
Easy maneuverability
Issue Date: 2013-10-30
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Start page: 255
End page: 256
DOI: 10.1109/URAI.2013.6677360
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.
Rights: This is the author's version of the work. Copyright (C) 2013 IEEE. 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2013, 255-256. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/11609
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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