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Study on optimum maneuverability in horizontal manipulation of objects with power-assist based on weight perception

机译：基于重量感知，电力辅助水平操纵最佳机动性研究

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This paper presents the design of a 1-DOF (horizontal forward-backward translational motion) power assist system (PAS) for manipulating objects in horizontal direction based on human operator's perception of object weight. We adopt a hypothesis that pertains to human's weight perception. The hypothesis means that the human must consider the mass parameter for the inertial force different from the mass parameter for the gravitational force when programming (feedforward) the load force (tangential to grip surfaces) for manipulating an object with a PAS because the perception and the reality regarding the object weight are different in this case. We simulated the system using Matlab/Simulink. Five subjects manipulated objects of three different sizes with the PAS during the simulation. Subjects subjectively determined the optimum values for the mass parameters of the inertial and the gravitational force components. Optimum mass parameters resulted in optimum maneuverability. Finally, we proposed using the findings to develop humanfriendly PASs for manipulating heavy objects in industries such as manufacturing and assembly, mining, logistics and transport, construction, disaster management, military operations etc.
机译：本文提出了一种1-DOF的设计（水平前后平移运动）动力辅助系统（PAS），用于操纵根据对象的重量操作人员的感知水平方向的对象。我们采用的假设，涉及到人的重量感知。该假说装置，对于具有PAS操作对象编程（前馈）负载力（切向夹持表面）当人必须考虑从用于重力的质量参数的惯性力不同的质量参数，因为感知和关于对象的实际重量在这种情况下不同。我们模拟了利用Matlab / Simulink的系统。五个科操纵三种不同大小的物体与模拟过程中PAS。受试者主观确定的惯性和重力部件的质量参数的最佳值。最佳质量参数导致最佳的可操作性。最后，我们提出了利用调查结果制定humanfriendly通行证等行业的制造和装配，采矿，物流运输，建设，灾害管理，军事行动等操纵重物

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