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 proceedingConference contribution

1 Citation (Scopus)


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 languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages3
ISBN (Print)9784907764364
Publication statusPublished - 2010

Publication series

NameProceedings of the SICE Annual Conference


  • 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


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