This paper presents a stability analysis of the interaction between a human and a linear moving Force Augmenting Device (FAD). The analysis employs the mathematical models of the human, the FAD and their interaction. As a depart from past works, this article presents a stability analysis considering time-delays in the human model. A key ingredient in the analysis is the use of the Rekasius substitution for replacing the time-delay terms. It is proved that the human machine interaction is stable when the human model has no delays. The analysis provides an upper bound for the time-delays preserving a stable interaction. Numerical simulations allow to assess the human-FAD interaction. An experiment is performed with a laboratory prototype, where a human operator lifts a load. It is observed that the human machine interaction is stable and the human operator is able to move the load to its desired position by experiencing very little effort.
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ASME 2013 International Mechanical Engineering Congress and Exposition
November 15–21, 2013
San Diego, California, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-5641-3
PROCEEDINGS PAPER
Stability Analysis for a Force Augmenting Device Considering Delays in the Human Model
Suresh K. Gadi,
Suresh K. Gadi
CINVESTAV, Mexico City, Mexico
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Ruben A. Garrido,
Ruben A. Garrido
CINVESTAV, Mexico City, Mexico
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Rogelio Lozano,
Rogelio Lozano
CNRS-UTC, Compiegne, France
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Antonio Osorio
Antonio Osorio
CINVESTAV, Mexico City, Mexico
Search for other works by this author on:
Suresh K. Gadi
CINVESTAV, Mexico City, Mexico
Ruben A. Garrido
CINVESTAV, Mexico City, Mexico
Rogelio Lozano
CNRS-UTC, Compiegne, France
Antonio Osorio
CINVESTAV, Mexico City, Mexico
Paper No:
IMECE2013-63751, V012T13A067; 9 pages
Published Online:
April 2, 2014
Citation
Gadi, SK, Garrido, RA, Lozano, R, & Osorio, A. "Stability Analysis for a Force Augmenting Device Considering Delays in the Human Model." Proceedings of the ASME 2013 International Mechanical Engineering Congress and Exposition. Volume 12: Systems and Design. San Diego, California, USA. November 15–21, 2013. V012T13A067. ASME. https://doi.org/10.1115/IMECE2013-63751
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