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Physically weak people require support for standing up and sitting down. The purpose of this study is to develop an assistive device for sit-to-stand task in daily life. The device can support not only for standing-sitting motion but also for setting some places easy in house. And users can use the device by oneself or with caregivers. The muscle activity has been observed by using surface myoelectric...
The paper presents an assistive devices for health care workers and nurses. A new controlled assistive device for feeding gastrostomy and its control technique have been developed. The proposed controller scheme based on the internal model control (IMC) is able to generate appropriate pressure for the pressurized bag. Effectiveness of the assistive device has been verified by experiments.
The purpose of this research is to develop an assistive device for upper limbs. The disturbance estimation property of the internal model control is applied to detect motion intention of users. The experimental prototype of the assistive device for upper limbs is developed to evaluate the proposed control method. Effectiveness of the proposed method is verified by experiments. The experimental results...
The purpose of this research is to propose a control method for assistive devices for upper limbs. The disturbance estimation property of the internal model control is applied to detect motion intention of users. The experimental prototype of the assistive device for upper limbs is developed to evaluate the proposed control method. Effectiveness of the proposed method is verified by experiments. The...
In this paper, we propose the control method of a writing robot for reproducing brush pressure and trajectory without force sensors. The main goal of this research is to estimate and save the brush pressure by using the internal model control. In order to evaluate the proposed controllers, the experimental device is developed. The paper shows that the proposed controller is able to reproduce the brush...
In this paper, an extended internal model control (IMC) scheme for a sensorless force control on an uneven surface is proposed to such kind of surface-polishing, deburring and rubbing machines. The IMC controller scheme has disturbance decoupling property, good tracking performance and disturbance estimation property. In order to extend the conventional IMC scheme to force control on uneven surfaces,...
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