Control of power assist system considering weight perception ofhumnan operator

• Project/Area Number: 22560246
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Mie 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: ¥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.

Research Products

• [Journal Article] Improving interactions between a power-assist robot system and its human user in horizontal transfer of objects using a novel adaptive control method (2012)
  • 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
  • Peer Reviewed
• [Journal Article] Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects (2012)
  • 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
  • Peer Reviewed
• [Journal Article] A novel variable impedance compact compliant ankle robot for overground gait rehabilitation and assistance (2012)
  • 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
  • Peer Reviewed
• [Journal Article] Estimating and validating relationships between actual and perceived weights for lifting objects with a power assist robot: The psychophysical approach (2012)
  • 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
  • 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 Control (2011)
  • 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
  • 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
  • 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 characteristics (2011)
  • 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
  • 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
  • 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 characteristics (2010)
  • Author(s): S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
  • Journal Title: IEEE Transactions on Industrial Electronics (Early Access) Pages: 1-9
  • Peer Reviewed
• [Journal Article] Design and control of a power-assist robot system for lifting objects based on human's unimanual and bimanual weight discrimination (2010)
  • Author(s): S.M.Mizanoor Rahman, Ryojun Ikeura, Hideki Sawai
  • Journal Title: International Journal of Assistive Robotics and Systems Volume: 11 Pages: 11-29
  • 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
• [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
• [Presentation] human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot (2012)
  • 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
• [Presentation] Investigating the factors affecting human'sweight perception in lifting objects with a power assist robot (2012)
  • 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
• [Presentation] Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans (2012)
  • 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
• [Presentation] Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans (2012)
  • 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
• [Presentation] A human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot (2012)
  • 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
• [Presentation] Investigating the factors affecting human's weight perception in lifting objects with a power assist robot (2012)
  • 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
• [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
• [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
• [Presentation] Novel biomimetic control of a power assist robot for horizontal transfer of objects (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
• [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
• [Presentation] Novel biomimetic control of a power assist robot for horizontal transfer of objects (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
• [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
• [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
• [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
• [Presentation] Why does a power assist robot system reduce the weight of an object lifted with it? The preliminary results (2010)
  • 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
• [Presentation] Why does a power assist system reduce the weights of objects lifted with it? The preliminary reasoning (2010)
  • 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
• [Presentation] A critical look at human's bimanual lifting of objects with a power assist robot and its applications to improve the power-assist control (2010)
  • 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
• [Presentation] Manipulating objects in harmonic motion: distinctions between power-assisted and manual manipulation (2010)
  • 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
• [Presentation] Manipulating objects in harmonic motion : distinctions between power-assisted and manual manipulation (2010)
  • 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
• [Presentation] Understanding the reasons for which power-assist-lifted weight is 40% of actual weight : the preliminary studies (2010)
  • 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
• [Presentation] Harmonic motion analysis and control for manipulating objects with a power assist robot based on human characteristics (2010)
  • 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
• [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-cases (2010)
  • 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
• [Presentation] Harmonic motion analysis and control for manipulating objects with a power assist robot based on human characteristics (2010)
  • 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
• [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-cases (2010)
  • 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
• [Presentation] Two complementary techniques for motion control of power assist system for lifting objects based on human characteristics (2010)
  • 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
• [Presentation] Two complementary techniques for motion control of power assist system for lifting objects based on human characteristics (2010)
  • 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
• [Presentation] Analysis of weight perception, load forces, and objects' motions in lifting objects with a power assist robot system to modify the control (2010)
  • 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
• [Presentation] Manipulating objects with a power assist robot in harmonic motion : Analysis of human features and object motions for control modification (2010)
  • 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
• [Presentation] Controlling a power assist robot for lifting objects considering human's unimanual, bimanual and cooperative weight perception (2010)
  • 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
• [Presentation] Controlling a power assist robot for lifting objects considering human's unimanual, bimanual and cooperative weight perception (2010)
  • 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
• [Remarks]
  • URL: http://www.ss.mach.mie-u.ac.jp/
• [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/