TY - GEN
T1 - Energy-efficient power assisting methods for periodic motions and its experimental verification
AU - Hatada, Kazuyoshi
AU - Hirata, Kentaro
PY - 2012/7/23
Y1 - 2012/7/23
N2 - This paper considers power assist control methods for periodic motions in a steady-state. 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. Therefore, we propose power assisting methods to suppress the velocity fluctuation similar to the repetitive control. By monitoring an energy consumption, we compare the effectiveness and the energy efficiency of each method through experiments.
AB - This paper considers power assist control methods for periodic motions in a steady-state. 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. Therefore, we propose power assisting methods to suppress the velocity fluctuation similar to the repetitive control. By monitoring an energy consumption, we compare the effectiveness and the energy efficiency of each method through experiments.
UR - http://www.scopus.com/inward/record.url?scp=84863919761&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863919761&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2012.6210046
DO - 10.1109/ICIT.2012.6210046
M3 - Conference contribution
AN - SCOPUS:84863919761
SN - 9781467303422
T3 - 2012 IEEE International Conference on Industrial Technology, ICIT 2012, Proceedings
SP - 858
EP - 863
BT - 2012 IEEE International Conference on Industrial Technology, ICIT 2012, Proceedings
T2 - 2012 IEEE International Conference on Industrial Technology, ICIT 2012
Y2 - 19 March 2012 through 21 March 2012
ER -
