Paper Info
Title
A Yank-Based Variable Coefficient Method For A Low-Powered Semi-Active Power Assist System
Abstract
In this paper, we developed a power assist system to help users on carrying heavy loads. This system uses the user input force and position to generate an aiding force, reducing the burden on carrying heavy loads. We adopted a semi-active methodology, combining an active with a passive element, aiming to match the best traits from both, and also considering a lighter motor, which makes the system reach its limit force. To control this lightly actuated semi-active system we proposed a proportional controller which has its gain tuned accordingly to the yank value; this is calculated by the derivative of the force. The controller method herein amplifies the system response whenever the user intends to change his movement, producing a better handling of the system and saving actuator power for either periodical or non-periodical movements. Future applications may involve creating a light assist system for portable applications or assist in heavy industrial environments.
Year
DOI
Venue
2012
10.20965/jrm.2012.p0291
JOURNAL OF ROBOTICS AND MECHATRONICS
Keywords
Field
DocType
man-machine system, power assist system, semi-active, yank based control, actuator limitation
Control theory,Proportional control,Control theory,AC power,Control engineering,Engineering,Actuator
Journal
Volume
Issue
ISSN
24
2
0915-3942
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Andre Rosendo1326.41
T. Tanaka2814.81
Shun'ichi Kaneko323035.34