Abstract
The trend of aging society has impacts on all parts of daily life. For instance work lifetime is expected to increase and in combination with rising quality and efficiency demands there is need for new technologies, working processes and assistance systems. For the latter, applied to the domain of craftsmen, systems seem to be reasonable which allow force assistance, augmentation, increase in safety and/or guidance functions. Required technology blocks to implement such functions are mainly available already today. This article is dealing with force assistance and describes an electro–mechanical system – the demonstrator of a so called “3rd Arm” – which actively supports the user when handling heavy power tools. The “3rd Arm” consists mainly of cost–effective mass–market compliant components. It is attached to a harness at the waist of the craftsman and relieves craftsmen from hard and fatiguing works. Two functions were implemented and evaluated. First the compensation of gravitational forces of the tool by means of a force control in order to achieve an utmost transparent behaviour. Secondly, so called “Virtual Fixtures” were used to implement a positioning assistance when repeating tasks are to be fulfilled at the same working height.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Pons, J.L., et al.: Wearable Robots – Biomechatronic Exosceletons. John Wiley & Sons (2008)
Hogan, N., Krebs, H., Sharon, A., Chamnarong, J.: Interactive Robotic Therapist. US patent 5, 466, 213 (1995)
Casadio, M., Sanguineti, V., Morasso, P.G., Arrichiello, V.: Braccio di Ferro: A New Haptic Workstation for Neuromotor Rehabilitation. Technology and Health Care 14, 123–142 (2006)
Nef, T., Mihelj, M., Riener, R.: ARMin: A Robot for Patient–Cooperative Arm Therapy. Medical & Biological Engineering & Computing 45(9), 887–900 (2007)
Stienen, A., Hekman, E., Van der Helm, F., Prange, G., Jannink, M., Aalsma, A., Van der Kooij, H.: Dampace: Dynamic Force–Coordination Trainer for the Upper Extremities. In: Proc. of IEEE Int. Conf. on Rehabilitation Robotics (ICORR), pp. 820–826 (2007)
Rocon, E., Belda–Lois, J., Ruiz, A., Manto, M., Moreno, J., Pons, J.: Design and Validation of a Rehabilitation Robotic Exoskeleton for Tremor Assessment and Suppression. IEEE Transact. on Neural Systems and Rehabilitation Eng. 15, 367–378 (2007)
Chu, A., Kazerooni, H., Zoss, A.: On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX). In: Proc. of IEEE International Conference on Robotics and Automation, pp. 4356–4363 (2005)
Kawamoto, H., Kanbe, S.: Power Assist Method for HAL3 – Estimating Operator Intention Based on Motion Information. In: Proc. of IEEE International Workshop on Robot and Human Interactive Communication, pp. 67–72 (2003)
Desoutter: Ergosense – Ergonomie am Arbeitsplatz (May 2003), http://www.klasand.si/docs/CP_Ergo-nomie_am_Arbeitsplatz_deu.pdf
Hogan, N.: Impedance Control: An Approach to Manipulation. Part I – Theory, Part II – Implementation, Part III – Applications. ASME Journal of Dynamic Systems, Measurement and Control 107, 1–24 (1985)
Vallery, H., Duschau–Wicke, A., Riener, R.: Generalized Elasticities Improve Patient–Cooperative Control of Rehabilitation Robots. In: Proc. of IEEE International Conference on Rehabilitation Robotics, pp. 535–541 (2009)
Rosenberg, L.B.: Virtual Fixtures: Perceptual Tools for Telerobotic Manipulation. In: Proc. of IEEE Annual Int. Symposium on Virtual Reality (1993)
Griffin, W.B.: Shared Control for Dexterous Telemanipulation with Haptic Feedback. Ph.D. Thesis Dept of Mechanical Engineering Stanford University (2003)
Aarno, D.: Intention Recognition in Human Machine Collaborative Systems. Ph.D. Thesis KTH School of Computer Science and Communication (2007)
Unterhinninghofen, U., Freyberger, F.K.B., Buss, M.: Study on Computer Assistance for Telepresent Reaching Movements. In: Ferre, M. (ed.) EuroHaptics 2008. LNCS, vol. 5024, pp. 745–754. Springer, Heidelberg (2008)
Vallery, H., Van Asseldonk, E., Buss, M., Van der Kooij, H.: Reference Trajectory Generation for Rehabilitation Robots: Complementary Limb Motion Estimation. IEEE Transactions on Neural Systems and Rehabilitation Engineering 17, 23–30 (2009)
Vallery, H., Burgkart, R., Hartmann, C., Mitternacht, J., Riener, R., Buss, M.: Complementary Limb Motion Estimation for the Control of Active Knee Prostheses. In: Proc. of European Conf. on Technically Assisted Rehabilitation, vol. 56, pp. 45–51 (2011)
Kazerooni, H., Racine, J.L., Huang, L., Steger, R.: On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX). In: Proc. of IEEE Int. Conference on Robotics and Automation (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag GmbH Berlin Heidelberg
About this chapter
Cite this chapter
Petereit, S., Albert, A., Jeridi, N., Schoenleber, R., Rebmann, C., Vallery, H. (2012). Work Life in the Light of the Demographic Change: Case Study Force Assistive Device for Craftsmen. In: Wichert, R., Eberhardt, B. (eds) Ambient Assisted Living. Advanced Technologies and Societal Change. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27491-6_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-27491-6_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-27490-9
Online ISBN: 978-3-642-27491-6
eBook Packages: EngineeringEngineering (R0)