Operational point impedance control for maneuverability improvement of power assist system controllable on arbitrary point

Abstract

Multi-portal Human Interface (M-HI) as an innovative human interface for power assist systems has been researched and developed. The M-HI allows users to apply the operational force anywhere on the power assist system. When users control the PAS on its arbitrary point, The operational point motion is different from the end-effecter motion, even if the end-effecter move as ideal motion for users. The phenomenon affects user's maneuverability decrease. In this paper, impedance paremeters on the operational point are forcused. The relationsihp between the operational point motion and maneuverability are analyzed in terms of the impedance parameters. To evaluate the maneuverability of PAS applied M-HI, The impedance parameters of each operational point is calculated. Furthermore, modification of impedance parameters on the operational point is proposed. However, the method raise end-effecter motion error, the modification amount optimization is required. In this paper, the optimization method and results of fundamental maneuverability evaluations are shown.