Safe, Stable and Intuitive Control for Physical Human-Robot Interaction

Duchaine, Vincent; Gosselin, Clément

doi:10.1109/robot.2009.5152664

Cited by 98 publications

(92 citation statements)

References 11 publications

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“…Consequently, compared with the pHRI using CAC, the interaction force corresponding to SDVAC is significantly reduced. This observation matches the pHRI result of implementing SDVAC in human/manipulator interaction in [27,37]. existing literature [19,25,27,[30][31][32][33]37].…”

Section: Possible Improvements On the Experimentssupporting

confidence: 88%

“…The existing methods for future trajectory estimation in [27,30,32] cannot be directly applied to our application, where the human user walks with the robot and frequently varies his/her direction of motion. Consequently, the force information is often a result of body dynamics rather than a sign of human intention.…”

Section: Compensating For the Human's Future Trajectoriesmentioning

confidence: 99%

“…Therefore, the pHRI stability is often subject to the human arm's stiffness and the admittance parameters. To find appropriate admittance parameters that stabilize the pHRI for a given stiffness, the stability criteria for admittance controllers have been well-studied, especially in human/manipulator interaction [26,27,30,33,35].…”

Section: Introductionmentioning

confidence: 99%

“…We could use very conservative admittance parameters (e.g., a very high virtual viscosity) to ensure pHRI stability under any uncertain stiffness; however, this high viscosity would also place an extra physical burden on the human user and it thus results in poor pHRI performance. To mitigate the trade-off between stability and performance, many researchers have proposed implementing a stiffness estimator in human/manipulator interaction and recommended adjusting the admittance parameters online according to the estimated human arm stiffness [19,26,27,37]. Hereafter, we refer to this method as "stiffness-dependent variable admittance control" (SDVAC).…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

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: Possible Improvements On the Experimentssupporting

confidence: 88%

Section: Compensating For the Human's Future Trajectoriesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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

“…Applications involving moderately large payloads often make use of admittance control, in which a handle or a force/torque sensor is used to detect human intention. 1,2 Although stability issues associated with impedance control have been studied in depth, [3][4][5][6] fewer studies have been devoted to admittance control, [7][8][9]44 or to its modeling. 10 Furthermore, the results presented in these studies are not consistent with observations reported elsewhere 11,12 or with the experimental results obtained in our research.…”

Section: Introductionmentioning

confidence: 99%

Modeling of physical human–robot interaction

Campeau-Lecours

Otis

Gosselin

2016

International Journal of Advanced Robotic Systems

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Enhancement of human performance using an intelligent assist device is becoming more common. In order to achieve effective augmentation of human capacity, cooperation between human and robot must be safe and very intuitive. Ensuring such collaboration remains a challenge, especially when admittance control is used. This paper addresses the issues of transparency and human perception coming from vibration in admittance control schemes. Simulation results obtained with our suggested improved model using an admittance controller are presented, then four models using transfer functions are discussed in detail and evaluated as a means of simulating physical human-robot interaction using admittance control. The simulation and experimental results are then compared in order to assess the validity and limitations of the proposed models in the case of a four-degree-of-freedom intelligent assist device designed for large payload.

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