Braking device using counter electromotive force for the ergonomic assisted manipulation of large payloads

作者：Lacasse Marc Antoine; Gosselin Clement^*

来源：Robotics and Computer-Integrated Manufacturing, 2015, 35: 137-143.

DOI：10.1016/j.rcim.2015.03.005

• Ergonomic braking
• Payload manipulation
• Physical human robot interaction
• Robotics
• Assistive devices

This paper presents a passive braking device designed to manually decelerate heavy payloads with very little effort. The device is based on the use of the counter electromotive force of a small brushed DC motor whose electrical connection is controlled using a simple handle. Three versions of the handle are proposed to activate the braking device. A dynamic model of the mechanical system is formulated and simulations are performed in order to assess the capabilities of the braking device. The simulation results are validated experimentally using a simple test bench. Finally, a full scale experimental set-up is built and results obtained with the set-up are given in order to demonstrate the effectiveness of the concept.

• 出版日期2015-10