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Control of power assist system considering weight perception ofhumnan operator

Research Project

Project/Area Number 22560246
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionMie University

Principal Investigator

IKEURA Ryojun  三重大学, 大学院・工学研究科, 大学院工学研究科 (20232168)

Project Period (FY) 2010 – 2012
Project Status Completed (Fiscal Year 2012)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords人間機械システム / パワーアシスト / 重量知覚 / 操作性 / インピーダンス制御
Research Abstract

The control method for power assisting devices was developedconsidering the weight perception of human operators. It was shown that restricting degrees of freedom for the motion of to the carried object effects to the weight perception andwe can control the weight perception by controlling the reaction force from the floor.

Report

(4 results)
  • 2012 Annual Research Report   Final Research Report ( PDF )
  • 2011 Annual Research Report
  • 2010 Annual Research Report
  • Research Products

    (44 results)

All 2013 2012 2011 2010 Other

All Journal Article (10 results) (of which Peer Reviewed: 10 results) Presentation (32 results) Remarks (2 results)

  • [Journal Article] Improving interactions between a power-assist robot system and its human user in horizontal transfer of objects using a novel adaptive control method2012

    • Author(s)
      S.M.M. Rahman and R. Ikeura
    • Journal Title

      Advances in Human-Computer Interaction

      Volume: 2012 Pages: 1-12

    • DOI

      10.1155/2012/745216

    • Related Report
      2012 Annual Research Report 2012 Final Research Report
    • Peer Reviewed
  • [Journal Article] Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects2012

    • Author(s)
      S.M. Mizanoor Rahman and Ryojun Ikeura
    • Journal Title

      International Journal of Advanced Robotic Systems

      Volume: Vol.9, No.118 Issue: 4 Pages: 1-13

    • DOI

      10.5772/50894

    • Related Report
      2012 Annual Research Report 2012 Final Research Report
    • Peer Reviewed
  • [Journal Article] A novel variable impedance compact compliant ankle robot for overground gait rehabilitation and assistance2012

    • Author(s)
      S.M.M. Rahman and R. Ikeura
    • Journal Title

      Procedia Engineering

      Volume: 41 Pages: 522-531

    • DOI

      10.1016/j.proeng.2012.07.207

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Estimating and validating relationships between actual and perceived weights for lifting objects with a power assist robot: The psychophysical approach2012

    • Author(s)
      S.M. Mizanoor Rahman and Ryojyun Ikeura
    • Journal Title

      Procedia Engineering (International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012))

      Volume: 41 Pages: 685-693

    • DOI

      10.1016/j.proeng.2012.07.230

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Manipulating Objects with a Power Assist Robot in Linear Vertical and Harmonic Motion: Psychophysical-Biomechanical Approach to Analyzing Human Characteristics to Improve the Control2011

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura
    • Journal Title

      Journal of Biomechanical Science and Engineering

      Volume: 6 Issue: 5 Pages: 399-414

    • DOI

      10.1299/jbse.6.399

    • NAID

      130002066872

    • ISSN
      1880-9863
    • Related Report
      2012 Final Research Report 2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Towards developing a human-friendly power assist robot for manipulating heavy objects (Special focus on manoeuvrability and object's surface friction)2011

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura, Haoyong Yu
    • Journal Title

      International Journal of Biomechatronics and Biomedical Robotics

      Volume: Vol.1, No.4 Pages: 191-205

    • URL

      http://www.inderscience.com/jhome.php?jcode=ijbbr

    • Related Report
      2012 Final Research Report
    • Peer Reviewed
  • [Journal Article] Design and control of a power assist system for lifting objects based on human operator's weight perception and load force characteristics2011

    • Author(s)
      S.M.Rahman, R.Ikeura, et al
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 58 Issue: 8 Pages: 3141-3150

    • DOI

      10.1109/tie.2010.2087291

    • Related Report
      2012 Final Research Report 2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Towards developing a human-friendly power assist robot for manipulating heavy objects (Special focus on manoeuvrability and object's surface friction)2011

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, Haoyong Yu
    • Journal Title

      International Journal of Biomechatronics and Biomedical Robotics

      Volume: 1 Pages: 191-205

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Design and control of a power assist system for lifting objects based on human operator's weight perception and load force characteristics2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
    • Journal Title

      IEEE Transactions on Industrial Electronics (Early Access)

      Pages: 1-9

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Design and control of a power-assist robot system for lifting objects based on human's unimanual and bimanual weight discrimination2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, Hideki Sawai
    • Journal Title

      International Journal of Assistive Robotics and Systems

      Volume: 11 Pages: 11-29

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Presentation] パワーアシスト装置を用いた物体持ち上げ動作における重量知覚特性(重量知覚における反力の影響)2013

    • Author(s)
      石橋伸祐, 池浦良淳, 早川聡一郎, 澤井秀樹
    • Organizer
      日本機械学会東海支部第62期総会講演会
    • Place of Presentation
      津
    • Year and Date
      2013-03-19
    • Related Report
      2012 Final Research Report
  • [Presentation] パワーアシスト装置を用いた物体持ち上げ動作における重量知覚特性(重量知覚における反力の影響)2013

    • Author(s)
      石橋伸祐, 池浦良淳, 早川聡一郎, 澤井秀樹
    • Organizer
      日本機械学会東海支部第62期総会講演会
    • Place of Presentation
      津
    • Related Report
      2012 Annual Research Report
  • [Presentation] human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot2012

    • Author(s)
      S.M. Mizanoor Rahman and Ryojun Ikeura
    • Organizer
      The 21st IEEE International Symposium on Robot and Human Interactive Communication
    • Place of Presentation
      Paris, France
    • Year and Date
      2012-09-09
    • Related Report
      2012 Final Research Report
  • [Presentation] Investigating the factors affecting human'sweight perception in lifting objects with a power assist robot2012

    • Author(s)
      S.M. Mizanoor Rahman and Ryojun Ikeura
    • Organizer
      The 21st IEEE International Symposium on Robot and Human Interactive Communication
    • Place of Presentation
      Paris, France
    • Year and Date
      2012-09-09
    • Related Report
      2012 Final Research Report
  • [Presentation] Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans2012

    • Author(s)
      S.M. Mizanoor Rahman and Ryojun Ikeura
    • Organizer
      The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      Roma, Italy
    • Year and Date
      2012-06-25
    • Related Report
      2012 Final Research Report
  • [Presentation] Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans2012

    • Author(s)
      S.M. Mizanoor Rahman and Ryojun Ikeura
    • Organizer
      The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      Rome, Italy
    • Related Report
      2012 Annual Research Report
  • [Presentation] A human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot2012

    • Author(s)
      S.M. Mizanoor Rahman and Ryojun Ikeura
    • Organizer
      2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication
    • Place of Presentation
      Paris, France
    • Related Report
      2012 Annual Research Report
  • [Presentation] Investigating the factors affecting human's weight perception in lifting objects with a power assist robot2012

    • Author(s)
      S.M. Mizanoor Rahman and Ryojun Ikeura
    • Organizer
      2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication
    • Place of Presentation
      Paris, France
    • Related Report
      2012 Annual Research Report
  • [Presentation] パワーアシスト装置を用いた物体持ち上げ動作における重量知覚特性2012

    • Author(s)
      石橋 伸祐,池浦 良淳,早川 聡一郎,澤井 秀樹
    • Organizer
      平成24年度電気関係学会東海支部連合大会
    • Place of Presentation
      豊橋
    • Related Report
      2012 Annual Research Report
  • [Presentation] Lifting and lowering objects manually and with a power assist robot (Analysis of human features to develop biomimetic control)2011

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura and Haoyong Yu
    • Organizer
      The 2011 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      Phuket, Thailan
    • Year and Date
      2011-12-10
    • Related Report
      2012 Final Research Report
  • [Presentation] Novel biomimetic control of a power assist robot for horizontal transfer of objects2011

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura and Haoyong Yu
    • Organizer
      The 2011 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      Phuket, Thailan
    • Year and Date
      2011-12-10
    • Related Report
      2012 Final Research Report
  • [Presentation] Lifting and lowering objects manually and with a power assist robot (Analysis of human features to develop biomimetic control)2011

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, Haoyong Yu
    • Organizer
      2011 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      プーケット,タイ
    • Year and Date
      2011-12-10
    • Related Report
      2011 Annual Research Report
  • [Presentation] Novel biomimetic control of a power assist robot for horizontal transfer of objects2011

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, Haoyong Yu
    • Organizer
      2011 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      プーケット,タイ
    • Year and Date
      2011-12-10
    • Related Report
      2011 Annual Research Report
  • [Presentation] 物体持ち上げ動作における重量知覚特性2011

    • Author(s)
      石橋伸祐, 池浦良淳, 早川聡一郎, 澤井秀樹
    • Organizer
      日本機械学会第22回バイオフロンティア講演会
    • Place of Presentation
      津
    • Year and Date
      2011-10-07
    • Related Report
      2012 Final Research Report
  • [Presentation] Lowering objects manually and with power-Assist (Distinctions in perceived heaviness, load forces and object motions)2011

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura, Shinsuke Ishibashi, Soichiro Hayakawa, Hideki Sawai and Haoyong Yu
    • Organizer
      The 4th International Conference on Human System Interaction
    • Place of Presentation
      Yo kohama, Japan
    • Year and Date
      2011-05-19
    • Related Report
      2012 Final Research Report
  • [Presentation] Lowering objects manually and with power-Assist (Distinctions in perceived heaviness, load forces and object motions)2011

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他4名
    • Organizer
      The 4th International Conference on Human System Interaction
    • Place of Presentation
      慶應義塾大学(横浜市)
    • Year and Date
      2011-05-19
    • Related Report
      2011 Annual Research Report
  • [Presentation] Why does a power assist robot system reduce the weight of an object lifted with it? The preliminary results2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他3名
    • Organizer
      2010 IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      仙台
    • Year and Date
      2010-12-21
    • Related Report
      2010 Annual Research Report
  • [Presentation] Why does a power assist system reduce the weights of objects lifted with it? The preliminary reasoning2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他3名
    • Organizer
      2010 International Conference on Management Science and Information Engineering
    • Place of Presentation
      Zhengzhou, China
    • Year and Date
      2010-12-17
    • Related Report
      2010 Annual Research Report
  • [Presentation] A critical look at human's bimanual lifting of objects with a power assist robot and its applications to improve the power-assist control2010

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura, Soichiro Hayakawa and Hideki Sawai
    • Organizer
      2010 IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      Tianjin, China
    • Year and Date
      2010-12-16
    • Related Report
      2012 Final Research Report 2010 Annual Research Report
  • [Presentation] Manipulating objects in harmonic motion: distinctions between power-assisted and manual manipulation2010

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura, Ishibashi Shinsuke, Soichiro Hayakawa and Hideki Sawai
    • Organizer
      The 8th France-Japan and 6th Europe-Asia Congress on Mechatronics
    • Place of Presentation
      Yokohama, Japan
    • Year and Date
      2010-11-23
    • Related Report
      2012 Final Research Report
  • [Presentation] Manipulating objects in harmonic motion : distinctions between power-assisted and manual manipulation2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他3名
    • Organizer
      The 8th France-Japan and 6th Europe-Asia Congress on Mechatronics
    • Place of Presentation
      横浜
    • Year and Date
      2010-11-22
    • Related Report
      2010 Annual Research Report
  • [Presentation] Understanding the reasons for which power-assist-lifted weight is 40% of actual weight : the preliminary studies2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他3名
    • Organizer
      2010 International Symposium on Micro-NanoMechatronics and Human Science
    • Place of Presentation
      名古屋
    • Year and Date
      2010-11-07
    • Related Report
      2010 Annual Research Report
  • [Presentation] Harmonic motion analysis and control for manipulating objects with a power assist robot based on human characteristics2010

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe and Hideki Sawai
    • Organizer
      The 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      2010-09-27
    • Related Report
      2012 Final Research Report
  • [Presentation] Worst-cases prediction by human in lifting objects with a power assist robot system: Effectiveness of a novel control strategy to improve the system performances in worst-cases2010

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura and Hideki Sawai
    • Organizer
      The 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      2010-09-27
    • Related Report
      2012 Final Research Report
  • [Presentation] Harmonic motion analysis and control for manipulating objects with a power assist robot based on human characteristics2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
    • Organizer
      2010 3rd IEEE International Conference on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      東京
    • Year and Date
      2010-09-26
    • Related Report
      2010 Annual Research Report
  • [Presentation] Worst-cases prediction by human in lifting objects with a power assist robot system : Effectiveness of a novel control strategy to improve the system performances in worst-cases2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他1名
    • Organizer
      2010 3rd IEEE International Conference on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      東京
    • Year and Date
      2010-09-26
    • Related Report
      2010 Annual Research Report
  • [Presentation] Two complementary techniques for motion control of power assist system for lifting objects based on human characteristics2010

    • Author(s)
      S.M. Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe and Hideki Sawai
    • Organizer
      2010 IEEE International Conference on Control Applications
    • Place of Presentation
      Yokohama, Japan
    • Year and Date
      2010-09-09
    • Related Report
      2012 Final Research Report
  • [Presentation] Two complementary techniques for motion control of power assist system for lifting objects based on human characteristics2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
    • Organizer
      2010 IEEE International Conference on Control Applications
    • Place of Presentation
      横浜
    • Year and Date
      2010-09-08
    • Related Report
      2010 Annual Research Report
  • [Presentation] Analysis of weight perception, load forces, and objects' motions in lifting objects with a power assist robot system to modify the control2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他1名
    • Organizer
      2010 2nd International Conference on Mechanical and Electronics Engineering
    • Place of Presentation
      京都
    • Year and Date
      2010-08-01
    • Related Report
      2010 Annual Research Report
  • [Presentation] Manipulating objects with a power assist robot in harmonic motion : Analysis of human features and object motions for control modification2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他1名
    • Organizer
      2010 2nd International Conference on Mechanical and Electronics Engineering
    • Place of Presentation
      京都
    • Year and Date
      2010-08-01
    • Related Report
      2010 Annual Research Report
  • [Presentation] Controlling a power assist robot for lifting objects considering human's unimanual, bimanual and cooperative weight perception2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe and Hideki Sawai
    • Organizer
      2010 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Anchorage, Alaska, USA
    • Year and Date
      2010-05-05
    • Related Report
      2012 Final Research Report
  • [Presentation] Controlling a power assist robot for lifting objects considering human's unimanual, bimanual and cooperative weight perception2010

    • Author(s)
      S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
    • Organizer
      2010 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Anchorage, USA
    • Year and Date
      2010-05-03
    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://www.ss.mach.mie-u.ac.jp/

    • Related Report
      2012 Final Research Report
  • [Remarks] 三重大学大学院工学研究科機械工学専攻システム設計研究室

    • URL

      http://www.ss.mach.mie-u.ac.jp/

    • Related Report
      2012 Annual Research Report

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Published: 2010-08-23   Modified: 2019-07-29  

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