Yasuo Hayashibara

Assist system for carrying a long object with a human-analysis of a human cooperative behavior in the vertical direction

Deals with an assist system for carrying a long object with a human operator. When we carry such an object, we often grasp both ends and move it cooperatively. Our purpose is to establish how to design the assist system which can achieve such a task. It is difficult to apply conventional control laws. On the other hand, humans can achieve such a task. Therefore, we measure the human cooperative behaviors and analyze them to find the cooperative rules. Based on the rules, we propose a control law of the assist system. Furthermore, we construct a prototype system and verify the validity of the control law.

Design of a power assist system with consideration of actuator's maximum torque

This paper proposes a control method for a power assist system which attenuates the load force. In the system, the question of how to select a power assist ratio is important. This ratio must be selected with consideration of the maximum torque of each actuator used in the system, otherwise the actuator saturation may occur and cause the lack of the manoeuvrability and instability. To avoid such saturation problems, we propose a new control method which, after dividing an operated load into gravity load and dynamic load, selects a power assist ratio for the dynamic by considering the remaining actuator torque after the ratio for the gravity load is determined basing on the operators capability. The control law is formulated for a single axis power assist system and the effectiveness of the method is confirmed by experiments.

2P1-B12 Development of Flexible Control System Using RS485 Network

In this paper, we introduce a flexible control system using RS485 network. We develop some modules for sensing and controlling a robot via RS485 network. It includes integrated control module, sensor module and motor control module. The integrated control module corresponds to main module and the others correspond to sub modules. Each sub module has own ID. They are connected with daisy-chain and the connection can be changed flexible. We made some robots using these modules. These kinds of modules are already existed, but they need complex hardware or they are not disclosed the hardware and the software. These systems are disclosed and can be modified arbitrary. Furthermore, ready-made modules are provided.