抄録
In this study, we propose a multi-portal human interface (M-HI)as an innovative human interface for power assist systems. M-HI allows users to apply force anywhere in the power assist system. This paper describes the concept, the design, the algorithm and possible applications of M-HI. In addition, this paper demonstrates the effectiveness of M-HI with respect to expanding the operableworkspace of power assist systems containing multi-DOF manipulators.
