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This paper presents a new variable admittance control scheme for improving physical human-robot interaction. For achieving effective assistance, an intuitive cooperation must be achieved by the human operator, in which the detection of the human inference is required. The proposed controller employs a new algorithm for inferring human intention, i.e., acceleration or deceleration, by monitoring the...
Multiplayer environments are thought to increase the training intensity in robot-aided rehabilitation therapy after stroke. We developed a haptic-based environment to investigate the dynamics of two-player training performing time-constrained reaching movements using the ARMin rehabilitation robot. We implemented a challenge level adaptation algorithm that controlled a virtual damping coefficient...
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely used and the appropriate selection of the its parameters is crucial, since they affect both the stability and the ability of the robot to interact with the user....
In this study, we propose a novel iterative learning scheme, which generates time-series data comprising the impedance value for human-robot cooperative work, where the human operator moves the end-effector from an initial position to a goal position. The proposed learning scheme iteratively updates time-series data comprising the variable impedance value to minimize a task-oriented cost function...
The emerging field of physical human-robot interaction raises the need to distinguish collisions over intended contacts in order to guarantee safe and seamless interaction. In this paper, a novel contact distinction method is proposed that monitors the externally applied forces/torques and is able to distinguish unexpected collisions from intended contacts during cooperative tasks. The method is based...
This paper investigates simple explicit and implicit force control approaches for industrial robots. They are applied to impact and contact control. Furthermore, some of these algorithms are used for force controlled contour following, extended by additional features to improve the control behavior. A lot of approaches published in the past are not easy to implement in commercial robot controllers,...
Robotic telesurgery application could greatly benefit from force control, providing safe and stable application even under time delays and other disturbing conditions. This paper describes a soft tissue model which can be integrated into the control loop of a teleoperational master -- slave robot. Three alternations of the Wiechert model have been implemented and matched against experimental data...
This paper proposes a novel method to improve the stability of time-delayed bilateral control systems. 3-channel bilateral control system is one of teleoperation systems with haptic feedback. It can transmit haptic sense without large operational force even under time delay. However, the stability of contact motion with hard environments is not ensured. Therefore, this paper proposes a new damping...
Instrumented objects and multipurpose haptic displays have commonly been used to investigate sensorimotor control of grasping and manipulation. A major limitation of these devices, however, is the extent to which the experimenter can vary the interaction dynamics to fully probe sensorimotor control mechanisms. We propose a novel method to study precision grip control using a grounded robotic gripper...
This paper presents a method for variable admittance control in human-robot cooperation tasks, that combines a human-like decision making process and an adaptation algorithm. A Fuzzy Inference System is designed that relies on the measured velocity and the force applied by the operator to modify on-line the damping of the robot admittance, based on expert knowledge for intuitive cooperation. A Fuzzy...
A control algorithm based on admittance regulation is proposed for human-robot cooperative force amplification. The controller is particularly suitable for physical interaction in both free space and constrained motions thanks to an active transition between the two modes. It is also able to cancel possible high frequency oscillations due to the contact with the environment. A mathematical analysis...
In this paper, a miniature reconnaissance robot with the functions of anti-impact and semi-autonomous motion is presented. The throwbot could be thrown or shot in the building by the soldier for real-time detection in anti-terrorist scene. A prototype has been developed to illustrate the concept. The finite element analysis and thrown experiments confirm the anti-impact ability of the mechanism. Besides...
In the near future, as robots become more advanced and affordable, we can envision their use as intelligent assistants in a variety of domains. An exemplar human-robot task identified in many previous works is cooperatively carrying a physically large object. An important task objective is to keep the carried object level. In this work, we propose an admittance-based controller that maintains a level...
This paper presents a novel robust framework for online walking control that uses the estimated actual posture of a robot for frequent pattern generation. The motion status in the absolute coordinate system is estimated by using an attitude sensor, and the estimated status is used as the initial condition of the next online pattern generation, so that the walking pattern generator can effectively...
This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with limited onboard sensing and wireless communication ranges, to approach the desired sensory coverage over targeted environments while maintaining communication connections. A virtual potential energy is defined for each mobile robot according to the difference between the actual and...
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