TY - GEN
T1 - Energy-efficient power assist control for periodic motions
AU - Hatada, Kazuyoshi
AU - Hirata, Kentaro
PY - 2010/1/1
Y1 - 2010/1/1
N2 - 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.
AB - 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.
KW - Electric power-assisted bicycle
KW - Periodic motion
KW - Repetitive control
UR - http://www.scopus.com/inward/record.url?scp=78649245326&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78649245326&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78649245326
SN - 9784907764364
T3 - Proceedings of the SICE Annual Conference
SP - 2004
EP - 2009
BT - Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PB - Society of Instrument and Control Engineers (SICE)
ER -
