Paper:

# Analysis of Velocity Pattern of a Power-Assisted Mobile Robot

## Yuki Ueno

Tokyo University of Technology

1404-1 Katakuramachi, Hachioji, Tokyo 192-0982, Japan

This paper aims to analyze the velocity pattern of a power-assisted mobile robot when the operator performs operation without any discomfort. Power-assist systems for mobile robots such as wheelchairs and conveyance carriers are extremely effective in alleviating the physical burden on operators when they carry heavy objects. Although the velocity control based power-assist system has an advantage that it can be easily realized, the problem lies in that the system becomes unstable when the operator has high stiffness. Variable impedance control based on impedance estimation of the operator is effective at solving this problem. To realize operator impedance estimation, it is necessary to know the intended robot’s motion of a person. In this study, as a preliminary step to estimate the operator’s impedance, the velocity pattern when the operator performs natural operation of the robot through the power-assist system is analyzed. The results confirm that the natural velocity pattern can be approximated by a velocity pattern connecting two minimum jerk trajectories.

*J. Adv. Comput. Intell. Intell. Inform.*, Vol.23, No.6, pp. 990-996, 2019.

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