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Sensor and control concept for a wearable robot for manual load handling assistance

: Stelzer, Patrick; Otten, Bernward; Kraus, Werner; Pott, Andreas

Postprint urn:nbn:de:0011-n-4047806 (1.0 MByte PDF)
MD5 Fingerprint: ed07ce00c2fc4f8c2401fde855ab9478
Created on: 26.7.2016

Univ. Innsbruck; International Federation for the Promotion of Mechanism and Machine Science:
5th International Workshop on Medical and Service Robots, MESROB 2016. Program. Online resource (Nicht mehr online verfügbar) : 4.-6. July 2016, Graz, Austria
Innsbruck, 2016
14 pp.
International Workshop on Medical and Service Robots (MESROB) <5, 2016, Graz>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
wearable; Exoskelett; Sensor; Handbetätigung; Lastenhandhabung; Mensch-Roboter-Kooperation (MRK); Steuerungskonzept

Current wearable robots mostly focus on applications in military, rehabilitation and load lifting in the health sector, while they are hardly used in industry and manufacturing. In this paper, a sensor and control concept for a wearable robot for assistance in manual handling of loads in industry is presented. Special requirements such as low costs, direct contact between the human and the load and easy set-up are addressed. A wall-mounted test stand of an actuated elbow joint was built up to evaluate the proposed sensors and control algorithms. By using a torque sensor in the elbow joint as reference it is shown that low cost force sensors in the forearm can be used to measure the human-robot interaction. A torque-based and a velocity-based impedance control approach are compared which allow the user to move freely while not handling any loads and which also allow to incorporate a human command signal for regulation of force support. The former is shown to be superior to the position-based approach. Further, the influence of the human impedance characteristics onto stability of the controllers is discussed.