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ID 48951
フルテキストURL
著者
Faudzi, Ahmad 'Athif Mohd Graduate School of Natural Science and Technology, Okayama University
Suzumori, Koichi Graduate School of Natural Science and Technology, Okayama University
Wakimoto, Shuichi Research Core for Interdisciplinary Sciences, Okayama University
抄録
This paper develops an Intelligent Chair Tool (ICT) - a new chair-type human and machine interaction seating system powered by 36 intelligent pneumatic actuators. This tool can be used to facilitate investigation of chair shapes from spring and damping effects of seating and backrest surfaces. Each actuator used consists of five extensive elements of encoder, laser strip rod, pressure sensor, valves and PSoC microcontroller incorporated in a single device. By using the ICT, different shapes, spring and damping characteristics can be obtained to aid the design of chairs from the control inputs, i.e., position x, stiffness k(s) and viscous coefficient c. Several control algorithms are presented to realize the communication and control system, and to obtain all data in real-time. The control methodology presented contains an inner force loop and an outer position loop implemented using a unified control system. The specification, development design and experimental evaluation of the ICT control system and actuator used are presented and discussed.
キーワード
Intelligent Chair Tool
seating system
intelligent pneumatic actuator
physical human machine interaction
control application in mechatronics
発行日
2010
出版物タイトル
Advanced Robotics
24巻
10号
開始ページ
1503
終了ページ
1528
ISSN
0169-1864
資料タイプ
学術雑誌論文
プロジェクト
異分野融合先端研究コア
オフィシャル URL
http://www.tandfonline.com/doi/abs/10.1163/016918610X505602
言語
English
著作権者
© Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
論文のバージョン
publisher
査読
有り
DOI
Web of Sience KeyUT