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A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a hidden Markov model-based high-level controller is used to estimate human intentions and modify the reference...
In order to enable intuitive physical interaction with autonomous robots as well as in collaborative multi-user virtual reality and tele-operation systems a deep understanding of human-human haptic interaction is required. In this paper the effect of haptic interaction in single and dyadic conditions is investigated. Furthermore, an energy-based framework suitable for the analysis of the underlying...
This paper presents the design and characteristics of a five-fingered haptic interface robot: HIRO III. The aim of the paper is to provide a high-precision force representation at the five human fingertips. HIRO III consists of a 15-degree-of-freedom (DOF) haptic hand, a 6 DOF interface arm and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large workspace...
Physical human-robot interaction can be significantly improved when being aware about the role each partner takes in a joint manipulation task. This holds especially in computer assisted teleoperation, where depending on the identified role of the human, different roles can be assigned to the assistance function. This work proposes a method for the determination of two non exclusive roles, an executor...
In this paper it is shown how variation of the kinematic structure of an exoskeleton and variation of its fixation strength on the human limb influences objective task performance metrics, such as interface load, tracking error and voluntary range of motion in a signal tracking experiment.
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