Human cooperative wheelchair for haptic interaction based on dual compliance control

A human and a robot will carry out a task which is not attainable by themselves. In particular, a human recognizes environment and plans his trajectory without collision with obstacles. On the other hand, a robot generates a controlled force more than a human. In this paper, the best combination of human ability and robot capacity is considered. Based on force commands from a human, a robot supports it A reaction torque observer is implemented in a robot to observe an environmental disturbance. Environmental disturbance is classified into translational and rotational direction modes. As a result, adaptive force control in each mode is attained. Dual compliance control is applied to a wheelchair. A wheelchair that has the abilities of power-assist and relaxation of contact force is developed in this paper. As a result, operationality and stability are improved. The numerical and experimental results show the viability of the proposed method.

[1]  E. Prassler,et al.  Motion coordination between a human and a robotic wheelchair , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[2]  Taketoshi Mori,et al.  Producing animal-like and friendly impressions on artifacts and analyzing their effect on human behavioral attitudes , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[3]  M. Yoda,et al.  Basic study on avoidance motions for human behaviors , 1995, Proceedings 4th IEEE International Workshop on Robot and Human Communication.

[4]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[5]  Kouhei Ohnishi,et al.  Dynamic Obstacle Avoidance of Autonomous Mobile Robot Based on Probabilistic Potential Field , 2001 .

[6]  Hiromu Nakazawa.  Human-Oriented Manufacturing System (HOMS) - Does it suggest a new type of robot? , 1998, IEEE Robotics & Automation Magazine.

[7]  Rory A. Cooper,et al.  Model reference adaptive control of heart rate during wheelchair ergometry , 1998, IEEE Trans. Control. Syst. Technol..

[8]  Yoshiaki Shirai,et al.  Robotic wheelchair based on observations of both user and environment , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[9]  Kouhei Ohnishi,et al.  A power-assistant platform taking environmental disturbance into account , 2000, 6th International Workshop on Advanced Motion Control. Proceedings (Cat. No.00TH8494).

[10]  Toshiyuki Murakami,et al.  Variable Compliance Control for 3 Dimensional Biped Robot considering Environmental Fluctuations , 1999 .

[11]  Kouhei Ohnishi,et al.  A Wheelchair Type Mobile Robot Taking Environmental Disturbance into Account Based on Compliance Control , 2002 .

[12]  Toshio Fukuda,et al.  Stable Contact Control of Robotic Manipulator Based on Unified Approach , 1993 .

[13]  Kouhei Ohnishi,et al.  A wheelchair type mobile robot taking environmental disturbance into account , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[14]  Kazuhiko Terashima,et al.  Semi-autonomous obstacle avoidance of omnidirectional wheelchair by joystick impedance control , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[15]  Xiaoping Yun,et al.  Internal dynamics of a wheeled mobile robot , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[16]  Kouhei Ohnishi.  Robust Motion Control by Disturbance Observer , 1996, J. Robotics Mechatronics.