Evaluation of compensation ratios in a power assist system based on operational sensation

✍ Scribed by Yasuo Hayashibara; Kazuo Tanie; Hirohiko Arai; Hiroki Tokashiki

• Publisher: John Wiley and Sons
• Year: 1998
• Tongue: English
• Weight: 138 KB
• Volume: 124
• Category: Article
• ISSN: 0424-7760
• DOI: 10.1002/(sici)1520-6416(199808)124:3<57::aid-eej7>3.0.co;2-l

✦ Synopsis

This paper deals with topics relating to a power assist system that is used for attenuating load force. In such systems, it is a serious problem that maneuverability and stability are lost when the actuators are saturated. To avoid this problem, we have proposed a power assist system with individual compensation ratios for gravity and dynamic load. In this paper, based on the operational sensation, we confirm the validity of the proposed method and discuss how the compensation ratios should be determined through our experiments.