Design of Orientation-Free Handler and Fuzzy Controller for Wire-Driven Heavy Object Lifting System

This paper presents an intention interface and controller for a wire-driven heavy object lifting system that assists the operator with moving a heavy object. The handler is designed to allow a comfortable working posture for the operator. Plus, as a human assistive system, the operator is involved in the control loop, where a fuzzy control system is used to consider the human control characteristics. The effectiveness and performance of the proposed system are proved by experiments.

• Bo-Wei Song
• Yun-Jung Lee

• Fuzzy controller
• Handler design
• Heavy object lifting system
• Human-assistive device
• Human-in-the-loop system.

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