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A novel class of intelligent power-assist systems based on differential CVT

: Surdilovic, D.; Bernhardt, R.; Zhang, L.


IEEE Industrial Electronics Society; Robotics Society of Japan -RSJ-:
IEEE ROMAN 2002. Proceedings : 11th IEEE International Workshop in Robot and Human Interactive Communication, September 25-27, 2002, Berlin
Piscataway, NJ: IEEE, 2002
ISBN: 0-7803-7545-9
International Workshop on Robot and Human Communication (ROMAN) <11, 2002, Berlin>
Conference Paper
Fraunhofer IPK ()
intelligent power-assist system; differential CVT; continuous variable transmission; power assist manipulation system; human-robot cooperation; differential gear; path-guidance function; kinematic model; dynamic model

This paper presents a novel power assist manipulation system for human- robot cooperation. The new system utilizes a reliable continuous variable transmission (CVT) based on the differential gear. The new system is significantly cheaper, simpler to control and more efficient than cobots with spherical CVTs. Both path-guidance and power-assist functions can be simply realized with the new system. Basic structures, kinematic and dynamic models, as well as control algorithms, which are essential for design, control synthesis and control of the system, are briefly presented.