A novel class of intelligent power-assist systems based on differential CVT

摘要

This paper presents a novel power assist manipulation system for human-robot cooperation. The new system utilizes a reliable CVT hosed on the differential gear. The new system is significantly cheaper, simpler to control and more efficient than cobots with spherical CVTs. Both path-guidance and power-assist functions con he simply realized with the new system. Basic structures, kinematic and dynamic models, as well as control algorithms, which are essential for design, control synthesis and control of the system, ore briefly presented.