Development of cart providing constant steerability regardless of loading weight or position : 2nd Report: Proposal of the operational interface
Development of cart providing constant steerability regardless of loading weight or position : 2nd Report: Proposal of the operational interface
复制标题
开发无论装载重量或位置如何都能提供恒定操纵性的推车：第二份报告：操作界面的提案
DOI：
10.1109/icm54990.2023.10101891
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
H. Hashimoto
中科院分区：
文献类型：
--
作者：
Shunya Aoki;S. Yokota;A. Matsumoto;D. Chugo;S. Muramatsu;H. Hashimoto
在这项研究中，我们的目标是开发提供恒定操纵性的推车。推车的可操纵性会因装载重量和位置而改变。因此，用户感觉不舒服，并且可用性降低。为了解决这个问题，我们开发了一种连接在推车上的主动转向脚轮，并提供恒定的转向能力。两个拟议的主动转向脚轮和两个传统脚轮以对角位置安装在推车上。通过控制主动转向脚轮的转向角度来确定移动方向。在本文中，我们提出了一个测量车把上的力和力矩的操作界面。力的方向和力矩决定了用户意图的小车的移动方向。为了测量力和力矩，将应变计粘在车的两个把手柱上。因此，不需要额外的组件。而且，该界面结构简单。实验旨在验证测量车把上的力和扭矩以估计用户移动方向意图的可行性。
In this study, we aim at development of the cart providing constant steerability. The steerability of a cart is changed by the loading weight and position. Thus, user feels uncomfortable, and usability is decreased. To solve this problem, we have developed an active steering caster being attached on the cart and provides a constant steerability. Two proposed active steering casters and two conventional casters are attached on the cart in diagonal position. The moving direction is determined by controlling the steering angles of the active steering casters. In this paper, we propose an operational interface that measures the force and the moment of force at the handlebar. The direction of the force and the moment of force determine the moving directions of the cart as user intention. In order to measure the force and the moment of force, strain gauges are glued on both handle posts of a cart. Therefore, additional component is not needed. Moreover, this interface is simple structure. The experiment has been conducted to verify the feasibility of measuring force and torque at the handlebar in order to estimate user’s intention for moving direction.