Impedance matching control between a human arm and a haptic joystick for long-term

Choi, Ji Wook; Gu, Zhan-Ming; Lee, Jang-Myung; Lee, Inho

doi:10.1017/s0263574721001430

Cited by 3 publications

(3 citation statements)

References 24 publications

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“…In summary, assistive robotics technology has demonstrated its effectiveness in enhancing autonomy and aiding elderly and disabled individuals [22]. Studies have reported a 40% increase in daily activities and a 30% reduction in caregiver demands [23,24]. When comparing commercially available devices with those under development and various innovative approaches in robotic meal assistance solutions, it becomes evident that commercial manipulators offer established solutions characterized by high costs.…”

Section: Introductionmentioning

confidence: 99%

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

Leone,

Giunta,

Rino

et al. 2024

Robotics

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This paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled with optimization design techniques to achieve a cost-oriented and user-friendly solution. The proposed design is based on utilizing commercial Arduino control hardware. The proposed device has been named Pick&Eat. The proposed device embodies reliability, functionality, and cost-effectiveness, and features a modular structure housing a 4-degrees-of-freedom robotic arm with a fixing frame that can be attached to commercial wheelchairs. The arm is integrated with an interchangeable end-effector facilitating the use of various tools such as spoons or forks tailored to different food types. Electrical and sensor components were meticulously designed, incorporating sensors to ensure user safety throughout operations. Smooth and secure operations are achieved through a sequential procedure that is depicted in a specific flowchart. Experimental tests have been carried out to demonstrate the engineering feasibility and effectiveness of the proposed design solution as an innovative assistive solution for individuals grappling with upper limb impairment. Its capacity to aid patients during the eating process holds promise for enhancing their quality of life, particularly among the elderly and those with disabilities.

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Section: Introductionmentioning

confidence: 99%

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

Leone,

Giunta,

Rino

et al. 2024

Robotics

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“…Control strategies are crucial to achieve maximum performance and confidence and improving ergonomics [18], flexibility [19], accuracy, and repeatability [20]. pHMI-based technologies often focus on force control methods such as admittance control [21][22][23], impedance control [9,24,25], and direct force control [26]. Simpler design choices could be discarded over more complex control strategies involving adaptiveness [27,28], robustness [29][30][31], and predictiveness.…”

Section: Introductionmentioning

confidence: 99%

Contact force regulation in physical human-machine interaction based on model predictive control

Pacheco Quiñones,

Paterna,

De Benedictis

et al. 2023

Robotica

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With increasing attention to physical human-machine interaction (pHMI), new control methods involving contact force regulation in collaborative and coexistence scenarios have spread in recent years. Thanks to its internal robustness, high dynamic performance, and capabilities to avoid constraint violations, a Model Predictive Control (MPC) action can pose a viable solution to manage the uncertainties involved in those applications. This paper uses an MPC-driven control method that aims to apply a well-defined and tunable force impulse on a human subject. After describing a general control design suitable to achieve this goal, a practical implementation of such a logic, based on an MPC controller, is shown. In particular, the physical interaction considered is the one occurring between the body of a patient and an external perturbation device in a dynamic posturography trial. The device prototype is presented in both its hardware architecture and software design. The MPC-based main control parameters are thus tuned inside hardware-in-the-loop and human-in-the-loop environments to get optimal behaviors. Finally, the device performance is analyzed to assess the MPC algorithm’s accuracy, repeatability, flexibility, and robustness concerning the several uncertainties due to the specific pHMI environment considered.

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“…In our prior pHHI study, we examined human control strategies in a manner applicable to design of robot controllers, demonstrating that a mechanical impedance model can characterize methods to aid balance 15 . pHRI research in upper limb manipulation has shown that varying robot impedance based on human impedance can improve task performance [16][17][18][19] and reduce interaction forces 16,17,20 and mechanical work 21 , but these impedance modulation strategies have yet to be examined in the context of pHHI during gait.…”

Section: Introductionmentioning

confidence: 99%

Low-force human-human hand interactions induce gait changes through sensorimotor engagement instead of direct mechanical effects

Wu,

Hackney,

Ting

2023

Preprint

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Physical human-robot interactions (pHRI) often provide mechanical force and power to aid and alter human walking without requiring voluntary effort from the human. Alternatively, we propose that principles of physical human-human interactions (pHHI) can inspire pHRI that aids walking by engaging human sensorimotor processes. We hypothesize that low-force hand interactions can intuitively induce people to alter their own walking. Our experiment paradigm is based on partner dancing: an expert partner dancer influences novice participants to alter step frequency solely through hand interactions. Without prior instruction or training, novices decreased step frequency by 29% and increased step frequency 18% based on low forces (< 20 N) at the hands. Power transfer at the hands was 10-100x smaller than that exerted by the lower limbs to propel locomotion, suggesting that the expert did not mechanically alter the novice’s gait. Instead, the direction of hand forces and power may communicate information about desired walking patterns. Finally, the expert altered arm stiffness to match that of the novice, offering a design principle for pHRI to alter gait. Our results provide a framework for developing pHRI with wide-ranging applications, including assistive technology and physical rehabilitation, human-robot manufacturing, physical education, and recreation.

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Impedance matching control between a human arm and a haptic joystick for long-term

Cited by 3 publications

References 24 publications

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

Contact force regulation in physical human-machine interaction based on model predictive control

Low-force human-human hand interactions induce gait changes through sensorimotor engagement instead of direct mechanical effects

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