2 DOF cartesian force limiting device for safe physical human-robot interaction

Lauzier, Nicolas; Grenier, M.; Gosselin, Clément

doi:10.1109/robot.2009.5152334

Cited by 11 publications

(12 citation statements)

References 11 publications

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“…In addition, ) and looks simpler than (6). However, formulating a Lyapunov function for (11) is actually much more challenging (e.g., the dissipative-energy condition used in (8) is not preserved here).…”

Section: Admittance Control In the The Robot Framementioning

confidence: 99%

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Wang¹,

Patota²,

Buondonno³

et al. 2015

Int. j. adv. robot. syst.

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Admittance controllers have been widely implemented in physical human/robot interaction (pHRI). The stability criteria and the parameter adaptation methods for admittance control have been well-studied. However, the established methods have mainly focused on human/ manipulator interaction, and cannot be directly extended to mobile robot-based pHRI, in which the nonlinearity cannot be cancelled by feedback linearizations and the measurements of the relative human/robot position and orientation are usually lacking. In this paper, we study the pHRI between a human user and a mobile robot under admittance control. We develop a robotic system which can measure the relative chest/ankle positions of the human user with respect to the robot. Using the measured human position, a human frame admittance controller is proposed to remove the nonlinearity in the system dynamics. Based on the human-frame admittance control, a stability criterion is derived. By using a human arm stiffness estimator along with the derived stability criterion, a stiffness-based variable admittance controller is designed. The effectiveness of the proposed methods in improving the pHRI performance is tested and supported by simulations and experimental results.

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Section: Admittance Control In the The Robot Framementioning

confidence: 99%

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Wang¹,

Patota²,

Buondonno³

et al. 2015

Int. j. adv. robot. syst.

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show abstract

“…A technique that combines torque limiters with parallel mechanisms to create Cartesian force limiting devices (CFLD) was recently proposed in Lauzier et al (2009). The device behaves like a structure unless the external forces exceed a certain threshold, leading to the activation of one or more degree of freedom.…”

Section: Cartesian Force Limiting Devicesmentioning

confidence: 99%

“…This is an important advantage since a collision can occur anywhere on the end-effector. In Lauzier et al (2009), this simple 1-DOF architecture was extended to a 2-DOF mechanism that reacts to collisions occuring in the whole horizontal plane. It is also possible to extend it to 3-DOF, thus covering all possible collisions occuring on the end-effector.…”

Section: Cartesian Force Limiting Devicesmentioning

confidence: 99%

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On the Design of Human-Safe Robot Manipulators

Duchaine¹,

Lauzier²,

Gosselin³

2010

Robot Manipulators New Achievements

Self Cite

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“…The overall control algorithm process has a safety manager with an error handler that was designed with the help of a risk study.  The mechanical device that safely disconnects the user from the mechanism when the mechanism is out of control (Lauzier & Gosselin, 2009) and,  The safety tether which maintains the equilibrium of the user when walking, falling or when the mechanism is out of control (Ottaviano et al, 2008), (Grow & Hollerbach, 2006). Other safety aspects of the system must also be guaranteed.…”

Section: Human Safety and Security Management Planmentioning

confidence: 99%