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ICRA
2005
IEEE

A Pneumatic Manipulator used in Direct Contact with an Operator

9 years 3 months ago
A Pneumatic Manipulator used in Direct Contact with an Operator
— Repetitive manual handling of heavy loads is common in assembly and is a frequent cause of lower back disorders. This can have a significant impact on the quality of life and has a serious economic cost. This paper presents the concept of a lightweight manipulator that can interact directly with an operator in order to assist him in handling heavy loads. The advantages of the system, ergonomics, low weight, low cost, ease of operation and operator safety are a consequence of the use of Pleated Pneumatic Artificial Muscles as actuators. The design of a small-scale model of such a manipulator using these actuators is presented in detail. A simple position controller for the system is also presented.
Michaël Van Damme, Frank Daerden, Dirk Lefebe
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Michaël Van Damme, Frank Daerden, Dirk Lefeber
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