Modeling, Simulation and Control of a Power Assist Robot for Manipulating Objects Based on Operator’s Weight Perception

Abstract

1.1 Power assist robot and its current applications Power assist robot is a human-robot cooperation that extends human’s abilities and skills in performing works (Kazerooni, 1993). Breakthrough in power assist robots was conceived in early 1960s with “Man-amplifier” and “Hardiman” (Kazerooni, 1993), but the progress of research on this significant field is not satisfactory yet. It is found through literature that power assist systems are currently being developed mainly for sick, physically disabled and old people as healthcare and rehabilitation supports (Kong et al., 2009; Seki, Ishihara and Tadakuma, 2009). Few power assist systems have also been developed for other applications such as for lifting baby carriage (Kawashima, 2009), physical support for workers performing agricultural jobs (Tanaka et al., 2008), hydraulic assist for automobiles (Liu et al., 2009), skill-assist for manufacturing (Lee, Hara and Yamada, 2008), assisted slide doors for automobiles (Osamura et al., 2008), assist-control for bicycle (Kosuge, Yabushita and Hirata,2004), assist for sports training (Ding, Ueda and Ogasawara, 2008), etc.