2021
DOI: 10.1109/tsmc.2019.2920870 View full text |Buy / Rent full text
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Abstract: In this paper, a force sensorless control scheme based on neural networks (NNs) is developed for interaction between robot manipulators and human arms in physical collision. In this scheme, the trajectory is generated by using geometry vector method with Kinect sensor. To comply with the external torque from the environment, this paper presents a sensorless admittance control approach in joint space based on an observer approach, which is used to estimate external torques applied by the operator. To deal with … Show more

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“…Using the law of cosines, the angle between two vectors can be calculated easily. (21) Similarly, the angle between two joints can be obtained by applying the same method. In the Kinect coordination, a joint can be regarded as a vector.…”
Section: Joint Angles Captured By Kinect Sensormentioning
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“…Using the law of cosines, the angle between two vectors can be calculated easily. (21) Similarly, the angle between two joints can be obtained by applying the same method. In the Kinect coordination, a joint can be regarded as a vector.…”
Section: Joint Angles Captured By Kinect Sensormentioning
“…According to Yang et al, if the relevant joint angles are zero, any position of the human arm can be regarded as the initial position. (21) When the human arm is moved to a new position U, the corresponding angle from the initial position to pose U is the rotation angle, namely, the joint angle.…”
Section: Joint Angular Velocity Collection By Myo Armbandmentioning
“…Industries are interested in using the manipulators to automate the common tasks, e.g., moving, assembling, packing, and transporting the products. Accurate tracking control, along with obstacle avoidance, is a critical requirement for the industrial manipulators [5], [6]. To fulfill those requirements, redundant manipulators [7] are particularly desirable because the extra degree of freedoms (DOFs) provided by redundant joints helps in achieving secondary design objectives, such as obstacle avoidance [8]- [10].…”
Section: Introductionmentioning
“…Their redundancy, such as more DoFs than required for the executed task, provides benefits over nonredundant robots, including the facilitation of human-like behavior, (2,4) enhanced manipulability, (3) and obstacle avoidance. (5,6) In robot-assisted MIS, the motion of the surgical tool is constrained to a point, referred to as the remote center of motion (RCM), where the surgical tool crosses the abdominal wall, allowing only translational movements around its axis. Whereas a mechanical implementation is generally considered safer but requires bulky, expensive structures and calibration procedures, a programmable RCM whose movement is restricted by the control algorithm is cheaper and more flexible and is therefore the preferable option.…”
Section: Introductionmentioning