Master-Slave Inter-relative Model for Human Assistance Robot

Master-Slave Inter-relative Model for Human Assistance Robot

  This paper presents a new master-slave inter-relative model (MSIRM) for human assistance robots. This model is composed of inter-relative kinematics and master-slave dynamics. The inter-relative kinematics is defined according to the spatial relation between the human assistance robot and the human body. The master-slave dynamics is defined by assuming the human body as an external load on the human assistance robot. By this modeling method, a 5-DOF meal assistance robot was modeled. With the simulation and the experimental work for the meal assistance robot, the appropriateness and effectiveness of this model were verified. With this model, the complex kinematics and dynamics of the human assistance robot can be made simple. Moreover, the features of the human assistance robot can be expressed according to the relation between the human assistance robot and the human body. And, the influence of the human body upon the human assistance robot can be analyzed. With this model, it is also possible that the controller of the human assistance robot be properly constructed.