NDLI: Wire-type human support system controlled by servo brakes

Content Provider	IEEE Xplore Digital Library
Author	Hirata, Y. Tozaki, Y. Kosuge, K.
Copyright Year	2012
Description	Author affiliation: Department of Bioengineering and Robotics, Tohoku University, 6-6-01, Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan (Hirata, Y.; Tozaki, Y.; Kosuge, K.)
Abstract	In this paper, we propose a passive wire-type motion support system to guide a human hand through the use of servo brakes. This system is intrinsically safe because servo brakes cannot generate a driving force to control the system. On the other hand, this system may not generate sufficient force to guide the human hand along the desired path because of the use of servo brakes. To resolve this problem, the standard approach would be to increase the number of brake units to generate the desired force. However, the large number of wires attached to each brake unit might restrict the user's motions, and there would be a potential for injury if the wires entwined around the user. Therefore, in order to safely guide the user's motion, we need to decrease the number of brake units having wires. In this paper, we consider a feasible braking force region of the wire-type passive system with multiple brake units and discuss the number of brake units required to guide the user's motion appropriately. We develop the wire-type motion support system that uses servo brakes and conduct path-following experiments considering table tennis as an example of sports training. In addition, we present experimental results that show the passive system with a small number of brake units can guide the user's hand along the desired path.
Starting Page	3356
Ending Page	3361
File Size	537755
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385648
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Wires Servomotors Humans Vectors Training
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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