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This paper proposes a high-safety power-assisted cart that can be operated on a slope by applying little-changed manual power even if the inclination changes. In this cart, balancing operation to compensate for load increments due to the increase in the inclination by using a spring is achieved in the safe state with the cart held by the brake application, while dangerous moving operation is performed...
Various types of power assist systems are desired in the fields of manufacturing, farming, welfare, etc. In the direct handling which applies force directly to a heavy object, operating force is usually detected by using a force sensor. However, the force sensor is deficient in that, for example, it is sensitive to noise. In this paper, the authors propose a direct-handling enabled power assist system...
Various power assist systems are used in the fields of manufacturing and welfare. Those power assist systems that handle a heavy object directly by the manual actuating force often use a force sensor to detect the moving direction. However, the force sensor has problems, including one that it is susceptible to noise. In the circumstances, this paper proposes a motor-driven device for supplying constant...
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a brake having variable characteristics. In this paper, the PDC is applied to a two-link pneumatic artificial muscle manipulator. First, new mechanism in which two arms are controlled separately is proposed, and its control method based on operation of MR brakes is described...
The passive dynamic control (PDC) is a mechanical system control method based on an inherently safe design means using a brake mechanism effectively. Since control only with an actuator does not have a stopping mechanism, this kind of control cannot prevent deviation from the target trajectory in case of trouble. On the other hand, the PDC follow-up control can prevent deviation from the target trajectory...
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a passive element (braking effort) whose characteristics are variable. In this paper, the PDC is applied to a rotary pneumatic actuator. First, the rotary pneumatic actuator equipped with an electromagnetic brake and a sensor for applying the PDC is proposed, and its control...
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design positively using the braking force. This paper proposes enclosing control in which deviation from a target trajectory is controlled by a brake mechanism. First, the principle of the enclosing control is described. Second, an experimental setup using two PDC pneumatic cylinders equipped with...
Despite the fact that several manufacturers of service robots launched their innovations into the market, worldwide guidelines or regulations concerning the safety aspects of service robots are not yet available. However the general principles and methodologies of safety of machinery (e.g., ISO/IEC Guide 51, partly ISO14121, ISO12100) could be implemented to a certain degree. The safety of seven service...
In this paper, we discuss a method to achieve a failure-to-safety robot system. First, we point out that there has been little study on human detection through contact sensing and we establish the human pain tolerance for human-oriented design of a safe robot. Secondly, for reliability purposes, we provide a method of sensing contact force by monitoring the direct drive motor current and speed of...
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