Task execution of a wheelchair mounted robotic arm incorporated with active compliance control

Wei Wang; Yuuki Nishi; Shigeki Sugano

Task execution of a wheelchair mounted robotic arm incorporated with active compliance control

Wei Wang^*, Yuuki Nishi, Shigeki Sugano

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Wheelchair mounted robotic arm is an assistive device designed to help physical disabled people to recover some manipulation capabilities in activities of daily livings. During task execution of wheelchair mounted robotic arm applications, both the requirement of safety and task accomplishment has to be satisfied. We have developed a wheelchair mounted robotic arm with mechanical gravity compensation, two torque sensors are mounted on the base joints to realized a sensor based active compliance control, thus a control structure is proposed to unify task oriented control and compliance control, the propsed control structure enable task execution even during an external collision.

Original language	English
Title of host publication	Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	3472-3474
Number of pages	3
ISBN (Print)	9784907764364
Publication status	Published - 2010 Jan 1

Publication series

Name	Proceedings of the SICE Annual Conference

Keywords

Active impedance control
Task oriented control
Wheelchair mounted robotic arm

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Cite this

Task execution of a wheelchair mounted robotic arm incorporated with active compliance control. / Wang, Wei; Nishi, Yuuki; Sugano, Shigeki.
Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE), 2010. p. 3472-3474 5603020 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - Wheelchair mounted robotic arm is an assistive device designed to help physical disabled people to recover some manipulation capabilities in activities of daily livings. During task execution of wheelchair mounted robotic arm applications, both the requirement of safety and task accomplishment has to be satisfied. We have developed a wheelchair mounted robotic arm with mechanical gravity compensation, two torque sensors are mounted on the base joints to realized a sensor based active compliance control, thus a control structure is proposed to unify task oriented control and compliance control, the propsed control structure enable task execution even during an external collision.

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Task execution of a wheelchair mounted robotic arm incorporated with active compliance control

Abstract

Publication series

Keywords

ASJC Scopus subject areas

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