TY - GEN
T1 - Task execution of a wheelchair mounted robotic arm incorporated with active compliance control
AU - Wang, Wei
AU - Nishi, Yuuki
AU - Sugano, Shigeki
PY - 2010/1/1
Y1 - 2010/1/1
N2 - 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.
AB - 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.
KW - Active impedance control
KW - Task oriented control
KW - Wheelchair mounted robotic arm
UR - http://www.scopus.com/inward/record.url?scp=78649281931&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78649281931&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78649281931
SN - 9784907764364
T3 - Proceedings of the SICE Annual Conference
SP - 3472
EP - 3474
BT - Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PB - Society of Instrument and Control Engineers (SICE)
ER -