Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction

Vyas, Yash; Allenspach, Mike; Lanegger, Christian; Siegwart, Rol; Tognon, Marco

doi:10.1109/airpharo52252.2021.9571032

Cited by 2 publications

(2 citation statements)

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“…This difference can be explained by the fact that the test subjects do not behave exactly like a second order system as it is assumed in the model. Notice that small oscillations in human planar velocity due to their gait pattern [23] are not captured. In practice, high damping gain b Γ H A will cause the aerial vehicle to track these human velocities, explaining the observed misalignment between γ xy and f cxy , as well as the small positive slope of the interpolation line in Fig.…”

Section: Resultsmentioning

confidence: 99%

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Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction

Allenspach

Vyas

Rubio

et al. 2022

IEEE Robot. Autom. Lett.

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With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works [1], we considered one of the first systems in which a human is physically connected to an aerial vehicle by a cable. There, we developed a compliant controller that allows the robot to pull the human toward a desired position using forces only as an indirect communication-channel. However, this controller is based on the robot-state only, which makes the system not adaptable to the human behavior, and in particular to their walking speed. This reduces the effectiveness and comfort of the guidance when the human is still far from the desired point. In this paper, we formally analyze the problem and propose a human-state-aware controller that includes a human's velocity feedback. We theoretically prove and experimentally show that this method provides a more consistent guiding force which enhances the guiding experience.

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Section: Resultsmentioning

confidence: 99%

“…In the first case, Theorem 2 suggests that b A should be chosen as low as possible to allow accurate tracking of f c (see (23)). However, a minimum dissipative action is required to maintain the system stability and ensure a comfortable user experience.…”

Section: B Tuning Of the Admittance Damping B Amentioning

confidence: 99%