JRM Vol.20 No.6 pp. 896-902
doi: 10.20965/jrm.2008.p0896


Simulation of a Pneumatic Hand Crane Power-Assist System

Tatsuya Doi*, Hironao Yamada**, Toshihisa Ikemoto***,
and Hiroshi Naratani***

*Graduate School of Engineering, Gifu University, Gifu, Japan

**Department of Human and Information Systems, Gifu University, Gifu, Japan

***Aikoku Alpha Corporation, Aichi, Japan

September 28, 2007
March 18, 2008
December 20, 2008
power-assist, simulation, pneumatic, human model, neural network

Simulation of a pneumatic hand crane for work support was developed for system design. The crane’s mathematical model consists of a pneumatic cylinder model, a crane link model, and a controller that includes a human model to passively operate the hand crane by operating force. The human model’s inverse system learns using a neural network. The feasibility of the simulation was demonstrated in comparison with measurement results from operating force and acceleration.

Cite this article as:
Tatsuya Doi, Hironao Yamada, Toshihisa Ikemoto, and
and Hiroshi Naratani, “Simulation of a Pneumatic Hand Crane Power-Assist System,” J. Robot. Mechatron., Vol.20, No.6, pp. 896-902, 2008.
Data files:
  1. [1] H. Kazerooni, “Human-robot interaction via the transfer of power and information signals,” IEEE Transactions on Systems, Man and Cybernetics, Vol.20, No.2, pp. 450-463, 1990.
  2. [2] Y. Yamada, H. Konosu, T. Morizono, and Y. Umetani, “Proposal of Skill-Assist for Mounting Operations in Automobile Assembly Processes,” Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.68, No.666, pp. 509-516, 2002.
  3. [3] H. Kato, R. Ikeura, S. Noguti, K. Mizutani, H. Nakamura, and T. Honda, “Impedance Control for an Industrial Power Assist Device Considering Contact Operations,” Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.72, No.714, pp. 514-521, 2006.
  4. [4] T. Doi, H. Yamada, T. Ikemoto, and H. Naratani, “Simulation of a Pneumatic Hand Crane Type Power Assist System,” Transactions of the Japan Fluid Power System Society, Vol.39, No.2, pp. 28-33, 2008.
  5. [5] T. Muto, “Dynamics and Control of Actuators,” pp. 141-160, Corona Publishing Co., Ltd., 1992 (in Japanese)
  6. [6] The Japan Fluid Power System Society, “Hydraulics and Pneumatics handbook,” pp. 42-44, 1989.
  7. [7] M. Kawato, “Computational Theory of the Brain (in Japanese),” pp. 119-189, Sangyo Tosho Publishing Co., Ltd., 1996.
  8. [8] T. Flash and N. Hogan, “The coordination of arm movements: An experimentally confirmed mathematical model,” The Journal of Neuroscience, Vol.5, No.7, pp. 1688-1703, 1985.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 20, 2022