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In recent years world aging population is increasing always more and more. Consequently power assist devices such as electro mechanical suits and electric wheelchair are growing in importance. A key aspect in the control of power assist robots is the knowledge of the force that the user applies on the device. Force sensors are often used even though they are generally expensive, heavy, and can measure...
This paper proposes a novel algorithm to detect information of time delay and inertia errors of the nominal model in the disturbance observer. The proposed method adopts the hidden Markov model to relate the states causing disturbances with the observed disturbances. Output distribution of the hidden disturbance state can be defined based on the relationship between the observed disturbance and time...
This paper presents a new control design method to solve the problem of uncertain friction compensation in robot joint control. A friction force observer is designed using local models of friction interpolated by mean of weighting functions. The estimated friction is used in a minor loop for a compensation purpose and the resulting dynamics after compensation are considered for the synthesis of robust...
Our walking motion control is designed for the purpose of supporting persons who have handicaps. The way of control design is differ from robot control. Simple control, easy sensing and operating are required. Therefore swing leg motion control is introduced. This paper is addressed as 1) control design, 2) walking simulation, and 3)analysis of human walking with our proposing method
In the production process of hard disk drive (HDD), there is a process of writing servo signals on magnetic disks to move the head to target address. However, such a servo track writer takes a longer time to draw servo signals because of the recent increase of the capacity of HDD. Therefore, a low-cost method to draw servo signals is desired. In order to resolve the problems, SSTW method (self servo...
In this paper, we expand the human-friendly control concept which has been restricted only to the robot controls into general assistive controls. For a demonstration of this generalized human-friendly control, we adopt a power-assisted wheelchair and apply a novel control to it. We investigate some requirements for this generalized human-friendly control and suggest solutions to it. Our solution approach...
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