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A power assist robot reduces the perceived weights of objects lifted with it. However, the relationships between actual and perceived weights have not been estimated yet that result in inappropriate force programming, improper interactions between robots and human users in terms of safety, maneuverability, motion etc. In this paper, we present the development of a power assist robot system for lifting...
Objects of different sizes were lowered from a certain height by subjects manually. Then the same objects were lowered from the same height by the same subjects with a power assist system. We then analyzed subjects' heaviness perception, load forces and objects' motion features for the manually lowered objects and compared them to that for the power-assist-lowered objects. The distinctions in perceived...
We hypothesized that weight perception (WP) due to inertia might be different from WP due to gravity for lifting an object with a power assist robot (PAR). Objects were lifted with a PAR independently under three different lifting schemes-unimanual, bimanual, and cooperative lift. Then, psychophysical relationships between actual and powerassisted weights (PAWs) as well as excess in load forces (LFs)...
This paper presents the design of a 1 DOF power assist system for lifting objects. The load force (vertical lifting force applied by human) consisting of inertial and gravitational forces was considered as the desired dynamics for the system. We hypothesized that human's perception of object weight due to inertial force might be different from the perceived weight due to gravitational force. We simulated...
In this paper, we designed and controlled a 1 DOF power assist robot for lifting objects based on human operator's unimanual and bimanual weight discrimination. At first, we established psychophysical relationships between the actual weights and the power assisted weights for the objects lifted with the power assist robot. We also determined the excess of the load forces that humans applied while...
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