Stability analysis for impedance control of robot for human-robot cooperative task system

Tsumugiwa, Toru; Yokogawa, Ryuichi; Yoshida, Kazunobu

doi:10.1109/iros.2004.1390020

Cited by 41 publications

(51 citation statements)

References 18 publications

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“…(1) the stiffness of the human arm has the greatest effect on stability for a specific damping value, and (2) an increase in damping is sufficient to stabilize the robot [40]- [42]. The stiffness of operators increased while performing fine motions with particular precision [43].…”

Section: B Experimental Taskmentioning

confidence: 99%

Variable Admittance Control With Virtual Stiffness Guidance for Human–Robot Collaboration

et al. 2020

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Human-robot collaboration (HRC) is a promising solution for expanding the use of robotic systems in unstructured environments and complex processes in various industries. In this paper, a novel variable admittance control (VAC) with virtual stiffness guidance (VSG) is proposed to improve the performance of HRC. The proposed VAC prevents unnecessary changes of the damping parameter by classifying the human intentions in the low-velocity region, which results in smooth movement. Additionally, the VAC with VSG makes the robot actively assist an operator using a virtual spring. Under the proposed VSG scheme, the equilibrium position of the virtual spring can be adjusted by the operator during a task. The proposed control strategies are implemented in a four-degree-of-freedom hydraulic manipulator referred to as HydCobot. Two experimental tasks for evaluating the accuracy, effort, and elapsed time are conducted to validate the effectiveness of the proposed methods. The results indicate that the proposed methods effectively enhance the performance of HRC.

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Section: B Experimental Taskmentioning

confidence: 99%

Variable Admittance Control With Virtual Stiffness Guidance for Human–Robot Collaboration

et al. 2020

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“…A compliance control system for "Mode B " is applied to change the joint 3 stiffness [10,11]. Figure 15 shows a block diagram of the control system.…”

Section: Control System Of "Mode B"mentioning

confidence: 99%

Design of Upper Limb Assistive Device Using a Pneumatic Cylinder

Saga

Kirihara²

2013

J. Rehabil. Rob.

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This paper describes the design of a device to support a patient's upper limb motion. For safety, light weight, and flexibility, it uses a pneumatic cylinder for which the optimum arrangement is presented. This independencesupporting device has two modes corresponding to livelihood support and rehabilitation. Based on human motion, a compliance control system and a position control system are designed for those modes. As described herein, we evaluate the independence-support mode effectiveness through experimentation.

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“…However, designing the admittance controller for a low-effort task by selecting the desired inertia below the end-effector's physical inertia can lead to instability [12]. The interaction stability in such situations is greatly affected by the human limb stiffness [13] Attaching a passive compliant element to the end-effector and controlling the endpoint stiffness can improve the interaction stability in these cases.…”

Section: Introductionmentioning

confidence: 99%

Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human–Robot Interaction

Jujjavarapu

Memar

Karami

et al. 2019

Journal of Mechanisms and Robotics

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This paper presents the design of a two-degrees-of-freedom (DoFs) variable stiffness mechanism and demonstrates how its adjustable compliance can enhance the robustness of physical human–robot interaction. Compliance on the grasp handle is achieved by suspending it in between magnets in preloaded repelling configuration to act as nonlinear springs. By adjusting the air gaps between the outer magnets, the stiffness of the mechanism in each direction can be adjusted independently. Moreover, the capability of the proposed design in suppressing unintended interaction forces is evaluated in two different experiments. In the first experiment, improper admittance controller gain leads to unstable interaction, whereas in the second case, high-frequency involuntary forces are caused by the tremor.

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Stability analysis for impedance control of robot for human-robot cooperative task system

Cited by 41 publications

References 18 publications

Variable Admittance Control With Virtual Stiffness Guidance for Human–Robot Collaboration

Variable Admittance Control With Virtual Stiffness Guidance for Human–Robot Collaboration

Design of Upper Limb Assistive Device Using a Pneumatic Cylinder

Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human–Robot Interaction

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