Motion Guides for Assisted Manipulation  

Oleh:

Lynch, Kevin M. ; Caizhen, Liu ; Sorensen, Allan ; Songho, Kim ; Peshkin, Michael ; Colgate, J. Edward ; Tickel, Tanya ; Hannon, David ; Shiels, Kerry

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 21 no. 1 (Jan. 2002), page 27-43.
Topik: human-robot cooperation; programmable constraints; ergonomics; optimal motion guides; contrained motor control
Fulltext: 27TIJRR211.pdf (416.24KB)

Isi artikel

This paper explores the use of passive guides to assist a human in manipulating heavy loads. A guide acts as a frictionless rail which confines the load to a one-dimensional curve in its configuration space. In this paper we formulate the problem of designing guides to effectively assist the human, and we apply the formulation to two types of materials handling tasks: pushing a heavy cart and singlearm reaching motions. Guides may be implemented by fixed rails or programmable constraint machines. Initial experiments with humans suggest the potential benefits of guided manipulation.

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