Research on safe electric door system based on force sensor-less power-assist control

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This research focuses on the design of safe electric doors in terms of control design. Conventionally, the safety of the electric doors has been guaranteed by using several sensors. However, we suggest a new strategy to utilize a motor as a sensor since the motor has excellent torque measurability and develop various control methodologies. We implemented our suggested controllers into an electric door that will be used in the actual trains and verified their problems and effectiveness. The suggested control design and strategy is not confined to the application to the electric doors : it is also related to the general power assistance control and the characteristics of human muscle. The research we have done can be extended to the general application related to various assistive devices and even to the humanoid robots.