IEEJ Journal of Industry Applications
Online ISSN : 2187-1108
Print ISSN : 2187-1094
ISSN-L : 2187-1094
Special Issue Paper
Human-Machine Cooperative Grasping/Manipulating System Using Force-based Compliance Controller with Force Threshold
Naoki MotoiRyogo Kubo
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2016 Volume 5 Issue 2 Pages 39-46


In recent years, there have been several studies on human-machine cooperative systems. These systems involve contact between humans and the environment. Therefore, it is necessary to create a safe system in order to avoid injuring humans and the environment. On the other hand, task realization is also important. From this viewpoint, a force-based compliance controller with a force threshold is proposed in this paper. This controller achieves both task realization and adaptation to the environment. This motion selection is conducted by comparing the force command and a force threshold. In addition, a human-machine cooperative grasping/manipulating system using the proposed controller is developed. This system can conduct a human-machine cooperative motion, which consists of an autonomous motion and a human-assisting motion. The priorities of the autonomous motion and the human-assisting motion are easily designed by changing the force thresholds. The validity of the proposed system is confirmed with experimental results.

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© 2016 The Institute of Electrical Engineers of Japan
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