Intelligent Robot Laboratory

The WHAD(wire-driven human assistive device) system is a kind of human-assistive systems in which a human is involved in the control loop. Human's control characteristics and requirement of reducing worker's force to lift a heavy material are considered in the design process of the proposed fuzzy controller. An automatic weight measurement algorithm during the early stage of lifting is also proposed. Three types of WHAD system is developed. To design the wire length and motor torque while human operator lifting the object, kinematics of the developed WHAD system is analysed.