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

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

doi:10.1109/URAI.2013.6677360

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

Hosun Lee, Chuklmin Kwon, Geunho Lee, Sungmoon Jeong, Nak Young Chong

Japan Advanced Institute of Science and Technology

Research output: Contribution to conference › Paper › peer-review

5 Scopus citations

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.

Original language	English
Pages	255-256
Number of pages	2
DOIs	https://doi.org/10.1109/URAI.2013.6677360
State	Published - 2013
Event	2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of Duration: 30 Oct 2013 → 2 Nov 2013

Conference

Conference	2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
Country/Territory	Korea, Republic of
City	Jeju
Period	30/10/13 → 2/11/13

Keywords

assistive cart
easy maneuverability
force assist
human-robot interaction
impedance control

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10.1109/URAI.2013.6677360

Cite this

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title = "Development of an easy-to-manipulate assistive cart system using an observer based impedance control",

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 = "assistive cart, easy maneuverability, force assist, human-robot interaction, impedance control",

author = "Hosun Lee and Chuklmin Kwon and Geunho Lee and Sungmoon Jeong and Chong, {Nak Young}",

year = "2013",

doi = "10.1109/URAI.2013.6677360",

language = "English",

pages = "255--256",

note = "2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 ; Conference date: 30-10-2013 Through 02-11-2013",

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Development of an easy-to-manipulate assistive cart system using an observer based impedance control. / Lee, Hosun; Kwon, Chuklmin; Lee, Geunho et al.
2013. 255-256 Paper presented at 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013, Jeju, Korea, Republic of.

Research output: Contribution to conference › Paper › peer-review

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AB - 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.

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

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Keywords

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