Abstract
In the near future, a labor shortage will constitute a significant problem in the fields of welfare and nursing care. To solve this problem, researchers are developing rehabilitation and welfare robots such as motion-assist robots and life support robots. The purpose of this study was to develop a meal-assist robot that can help a disabled person with hand tremor. We used a proxy-based sliding-mode control for sensorless admittance control and applied tremor suppression control that uses the resonance of proxy-based sliding control.
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Yano, K., Nishiwaki, K., Hiramatsu, S. (2010). Tremor Suppression Control for a Meal-Assist Robot. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6191. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14064-8_51
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DOI: https://doi.org/10.1007/978-3-642-14064-8_51
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14063-1
Online ISBN: 978-3-642-14064-8
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