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

Research output: Contribution to conferencePaperpeer-review

4 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 languageEnglish
Pages255-256
Number of pages2
DOIs
StatePublished - 2013
Event2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of
Duration: 30 Oct 20132 Nov 2013

Conference

Conference2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
Country/TerritoryKorea, Republic of
CityJeju
Period30/10/132/11/13

Keywords

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

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