1A1-F25 Design of controller for a Semi-Active Assist Mechanism considering Low-Powered Actuator Limitation

概要

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The purpose of this work is to design a system capable of easily lifting heavy weights through a direct interface between the user and the system itself, receiving signals from the user and using a low-powered actuator connected to a spring to amplify its power, defining the so called Semi-active system. Varying the system weight from 5 to 15 kg it's possible to observe the system's behavior during the Visual Tracking Experiment through different assisting ratios. Simulations are performed using as input a sinusoidal force from the user and results are obtained, effectively reducing the user's fatigue and respecting the actuators limitation using the proposed control method. In the future, this kind of Power Assisting System can be remotely implanted in suits to effectively aid nurses, firefighters, industrial workers and also space missions.
一般社団法人日本機械学会の論文