Energy-efficient power assist control for periodic motions

Kazuyoshi Hatada, Kentaro Hirata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)


This paper considers power assist control for periodic motions. In most power assist applications, additional force is applied in proportion to the instantaneous value of force generated by human. However, human persistent tasks are sometimes periodic and it can be shown that the proportional assist is not optimal for such motions in the sense of energy efficiency. Regarding this aspect, we proposed several power assist methods for periodic motions based on repetitive control in our previous works. In this paper, we compare the energy efficiency of each method through experiments with electric power-assisted bicycle.

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 pages6
ISBN (Print)9784907764364
Publication statusPublished - Jan 1 2010
Externally publishedYes

Publication series

NameProceedings of the SICE Annual Conference


  • Electric power-assisted bicycle
  • Periodic motion
  • Repetitive control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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