Human-human interaction using a behavioural control strategy

Abstract

This paper presents an outline of human-human interaction to establish a framework to understand how a behaviour based approach can be developed in the design of a human-robot interactive strategy. To approach the conceptual design guidelines for an interactive human-robot strategy, the mathematical model of human behaviour during transferring the compliant object to a receiver without any types of communication has been strategically analysed. The AutoRegressive Moving Average with Exogenous Input (ARMAX) system identification has been applied to identify the human arm model. A set of experiments have been designed (based on BoxBehnken), along with the influence variables affecting the human forces, which consist of mass, friction and target displacement.The estimated ARMAX models were shown to be good matching with the actual experimental data, where the best-fit percentages of human force profiles are between 88.73% -97.2%; the proposed models can then be used to present the human arm characteristics effectively.

Implicit force control approach for Safe physical Robot-to-Human object handover

“…The human model is confined to that component of the environment which is contacted by the robot end effector. The rigid body mass of the human while holding the rigid baton-type object represents as mw, and his/her viscous damping and stiffness are bw and kw [14]. In addition, the displacements of the masses (mr, mg and mw) are respectively defined as xr, xg and xw.…”