ウエノ　ユウキ   Yuki Ueno   上野　祐樹    所属   工学部 機械工学科    職種   専任講師
言語種別	英語
発行・発表の年月	2019/11
形態種別	学術論文
査読	査読あり
標題	Analysis of Velocity Pattern of a Power-Assisted Mobile Robot
執筆形態	単著
掲載誌名	Journal of Advanced Computational Intelligence and Intelligent
掲載区分	国外
出版社・発行元	Fuji Technology Press Ltd.
巻・号・頁	23(6),pp.990-996
著者・共著者	Yuki Ueno
概要	This paper aims to analyze the velocity pattern of a power-assisted mobile robot when the operator performs operation without any discomfort. Power-assist systems for mobile robots such as wheelchairs and conveyance carriers are extremely effective in alleviating the physical burden on operators when they carry heavy objects. Although the velocity control based power-assist system has an advantage that it can be easily realized, the problem lies in that the system becomes unstable when the operator has high stiffness. Variable impedance control based on impedance estimation of the operator is effective at solving this problem. To realize operator impedance estimation, it is necessary to know the intended robot’s motion of a person. In this study, as a preliminary step to estimate the operator’s impedance, the velocity pattern when the operator performs natural operation of the robot through the power-assist system is analyzed. The results confirm that the natural velocity pattern can be approximated by a velocity pattern connecting two minimum jerk trajectories.