Operability evaluation of manual operation control for force-sensorless power-assist transport cart

IF 3.1 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS
Ryuki Sato , Ryuga Nishida , Susumu Hara , Hiroyuki Okuda , Mitsuru Nagatsuka , Masahiko Tsuji , Tatsuya Suzuki
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引用次数: 0

Abstract

In large-scale factories and warehouses, power-assisted carts are effective in transporting cargo to reduce the burden on workers. Herein, we developed a force-sensorless power-assisted cart system that can detect the operating force applied by the operator without using a force sensor and control the power-assisted drive. In this system, the operator directly grasps and operates the body of the cart, and the applied force is estimated from the cart body sway caused by the operation. The transport cart is controlled based on the estimated hand force. In such closed-loop systems formed by humans and machines, mechanical interactions affect the operability of the equipment. In this study, we experimentally verified the power-assisted manual operability of the proposed force-sensorless power-assisted transport cart. We examined the accuracy of the path tracking in manual operation experiments with 20 subjects and analyzed the results of the subjective evaluation. Based on the experimental results, the influence of the control parameters on operability was considered, and design guidelines were presented.

Abstract Image

无力传感器动力辅助运输车手动操作控制的可操作性评估
在大型工厂和仓库中,动力辅助推车可有效运输货物,减轻工人负担。在此,我们开发了一种无需力传感器的动力辅助推车系统,该系统可在不使用力传感器的情况下检测操作员施加的操作力,并控制动力辅助驱动。在该系统中,操作员直接抓握并操作小车车身,并根据操作引起的小车车身晃动来估算施加的力。运输小车根据估计的手力进行控制。在这种由人和机器组成的闭环系统中,机械相互作用会影响设备的可操作性。在本研究中,我们通过实验验证了所提出的无力传感器动力辅助运输车的动力辅助手动操作性。我们在 20 名受试者的手动操作实验中考察了路径跟踪的准确性,并分析了主观评价的结果。根据实验结果,考虑了控制参数对可操作性的影响,并提出了设计指南。
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来源期刊
Mechatronics
Mechatronics 工程技术-工程:电子与电气
CiteScore
5.90
自引率
9.10%
发文量
0
审稿时长
109 days
期刊介绍: Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.
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