Contact detection and reaction of a wheelchair mounted robotic arm equiped with mechanical gravity canceller

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

    5 Citations (Scopus)

    Abstract

    Safety issue has become the primary concern in wheelchair mounted robotic arm applications. We introduced mechanical gravity canceller in the design to realize a light weight manipulator, which also yield the greatly simplify of manipulator dynamics. Based on the simplified dynamics, sensor based contact detection can be easily implemented to enable safety. Contact reaction schemes are also applied through a impedance control law to achieve desired backdrivability. Experiments are conducted to illustrate the proposed method.

    Original languageEnglish
    Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    Pages4378-4383
    Number of pages6
    DOIs
    Publication statusPublished - 2010
    Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
    Duration: 2010 Oct 182010 Oct 22

    Other

    Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    CityTaipei
    Period10/10/1810/10/22

    Fingerprint

    Robotic arms
    Wheelchairs
    Manipulators
    Gravitation
    Sensors
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction
    • Control and Systems Engineering

    Cite this

    Wang, W., Suga, Y., & Sugano, S. (2010). Contact detection and reaction of a wheelchair mounted robotic arm equiped with mechanical gravity canceller. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 4378-4383). [5650885] https://doi.org/10.1109/IROS.2010.5650885

    Contact detection and reaction of a wheelchair mounted robotic arm equiped with mechanical gravity canceller. / Wang, Wei; Suga, Yuki; Sugano, Shigeki.

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 4378-4383 5650885.

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

    Wang, W, Suga, Y & Sugano, S 2010, Contact detection and reaction of a wheelchair mounted robotic arm equiped with mechanical gravity canceller. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5650885, pp. 4378-4383, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, 10/10/18. https://doi.org/10.1109/IROS.2010.5650885
    Wang W, Suga Y, Sugano S. Contact detection and reaction of a wheelchair mounted robotic arm equiped with mechanical gravity canceller. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 4378-4383. 5650885 https://doi.org/10.1109/IROS.2010.5650885
    Wang, Wei ; Suga, Yuki ; Sugano, Shigeki. / Contact detection and reaction of a wheelchair mounted robotic arm equiped with mechanical gravity canceller. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 4378-4383
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