Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
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Energy-Efficient Power Assist Control Methods for Periodic Motions
Kazuyoshi HatadaKentaro HirataKohei YamadaShinji Otani
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2012 Volume 25 Issue 2 Pages 28-38

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Abstract

This paper considers power assist control methods for periodic motions. In most power assist applications, additional force is applied in proportion to the instantaneous value of force generated by human. However, human persistent tasks are sometimes periodic and it can be shown that the proportional assist is not optimal for such motions in the sense of energy efficiency. Therefore, we propose power assisting methods to suppress the velocity fluctuation similar to the repetitive control. We compare the effectiveness and the energy efficiency of each method through numerical simulation and experiments.

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© 2012 The Institute of Systems, Control and Information Engineers
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