Power assist controller design taking account of unintentional input force

@article{Hara2013PowerAC,
  title={Power assist controller design taking account of unintentional input force},
  author={Susumu Hara and Kota Yuchi and Takahito Yoshiura and Yoji Yamada},
  journal={2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA)},
  year={2013},
  pages={1838-1843}
}
Power assist systems have been introduced to reduce workers' load in industrial production. The authors' research group has studied on control systems for realizing power assist systems for conveying flexible structures, and proposed a control system consisting of an impedance controller, the disturbance accommodating optimal controller, a disturbance observer and a reaction force controller. However, power assist control based on unintentional input force may cause reckless motion and severe… CONTINUE READING