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The International Journal of Robotics Research
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Motion Guides for Assisted Manipulation

Kevin M. Lynch

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

Caizhen Liu

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

Allan Sørensen

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

Songho Kim

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

Michael Peshkin

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

J. Edward Colgate

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

Tanya Tickel

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

David Hannon

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

Kerry Shiels

Mechanical Engineering Department Northwestern University Evanston, IL 60208, USA

This paper explores the use of passive guides to assist a human in manipulating heavy loads. A guide acts as a frictionless rail which confines the load to a one-dimensional curve in its configuration space. In this paper we formulate the problem of designing guides to effectively assist the human, and we apply the formulation to two types of materials handling tasks: pushing a heavy cart and single-arm reaching motions. Guides may be implemented by fixed rails or programmable constraint machines. Initial experiments with humans suggest the potential benefits of guided manipulation.

Key Words: human-robot cooperation • programmable constraints • ergonomics • optimal motion guides • contrained motor control

The International Journal of Robotics Research, Vol. 21, No. 1, 27-43 (2002)
DOI: 10.1177/027836402320556467
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