(12) United States Patent ao) Patent No.: us 6,394,731 Bi
Konosu et al. (45) Date of Patent: May 28,2002
(54) WORK ASSIST DEVICE
(75) Inventors: Hitoshi Konosu; Yoji Yamada, both of Nagoya (JP)
(73) Assignee: Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
( * ) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 0 days.
(21) Appl. No.: 09/398,208
(22) Filed: Sep. 17, 1999
(30) Foreign Application Priority Data
Sep. 17, 1998 (JP) 10-263348
(51) Int. C I. B65J 3/00
(52) U.S. CI 414/5; 700/213
(58) Field of Search 700/213, 260,
700/261; 901/9; 414/5, 6; 212/285, 330,
331, 338
(56) References Cited
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* cited by examiner
Primary Examiner—Christopher P. Ellis
Assistant Examiner—Khoi H. Tran
(74) Attorney, Agent, or Firm—Pillsbury Winthrop LLP
(57) ABSTRACT
The present invention relates to a device for assisting an operator in carrying heavy articles. The device is provided with a movable body for supporting the heavy article, an actuator for actuating the movable body, and a controller for adjusting the output of the actuator. The controller adjusts the actuator such that a force obtained by subtracting a resultant force of force proportional to acceleration of the heavy article, force proportional to speed, and force proportional to position value from force required for moving the heavy article with a same movement as that performed at that point. Further, coefficients proportional to acceleration, speed, and position value are changed during the series of carrying work. Especially, it is useful that the coefficients be changed according to the task process phases. It makes an operator feel as if he were changing assist device to an appropriate one for each task process phase. The operator is able to work under various environments with a feeling which is convenient for performing his work well.
5 Claims, 4 Drawing Sheets
