Task execution of a wheelchair mounted robotic arm incorporated with active compliance control

Wei Wang, Yuuki Nishi, Shigeki Sugano

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

    Abstract

    Wheelchair mounted robotic arm is an assistive device designed to help physical disabled people to recover some manipulation capabilities in activities of daily livings. During task execution of wheelchair mounted robotic arm applications, both the requirement of safety and task accomplishment has to be satisfied. We have developed a wheelchair mounted robotic arm with mechanical gravity compensation, two torque sensors are mounted on the base joints to realized a sensor based active compliance control, thus a control structure is proposed to unify task oriented control and compliance control, the propsed control structure enable task execution even during an external collision.

    Original languageEnglish
    Title of host publicationProceedings of the SICE Annual Conference
    Pages3472-3474
    Number of pages3
    Publication statusPublished - 2010
    EventSICE Annual Conference 2010, SICE 2010 - Taipei
    Duration: 2010 Aug 182010 Aug 21

    Other

    OtherSICE Annual Conference 2010, SICE 2010
    CityTaipei
    Period10/8/1810/8/21

    Fingerprint

    Compliance control
    Robotic arms
    Wheelchairs
    Sensors
    Gravitation
    Torque

    Keywords

    • Active impedance control
    • Task oriented control
    • Wheelchair mounted robotic arm

    ASJC Scopus subject areas

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

    Cite this

    Wang, W., Nishi, Y., & Sugano, S. (2010). Task execution of a wheelchair mounted robotic arm incorporated with active compliance control. In Proceedings of the SICE Annual Conference (pp. 3472-3474). [5603020]

    Task execution of a wheelchair mounted robotic arm incorporated with active compliance control. / Wang, Wei; Nishi, Yuuki; Sugano, Shigeki.

    Proceedings of the SICE Annual Conference. 2010. p. 3472-3474 5603020.

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

    Wang, W, Nishi, Y & Sugano, S 2010, Task execution of a wheelchair mounted robotic arm incorporated with active compliance control. in Proceedings of the SICE Annual Conference., 5603020, pp. 3472-3474, SICE Annual Conference 2010, SICE 2010, Taipei, 10/8/18.
    Wang W, Nishi Y, Sugano S. Task execution of a wheelchair mounted robotic arm incorporated with active compliance control. In Proceedings of the SICE Annual Conference. 2010. p. 3472-3474. 5603020
    Wang, Wei ; Nishi, Yuuki ; Sugano, Shigeki. / Task execution of a wheelchair mounted robotic arm incorporated with active compliance control. Proceedings of the SICE Annual Conference. 2010. pp. 3472-3474
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