Tracking Control Properties of Human–Robotic Systems Based on Impedance Control

Tsuji, Toshio; Tanaka, Yoshiyuki

doi:10.1109/tsmca.2005.850603

Cited by 96 publications

(42 citation statements)

References 33 publications

(47 reference statements)

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“…An interesting observation from this analysis is that stability depends on the operator maintaining sufficient arm impedance relative to environment impedance and delay. There is experimental evidence from previous studies that users indeed adjust their arm impedance to compensate for unstable dynamics of robotic interfaces [45], [46].…”

Section: Discussionmentioning

confidence: 99%

Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation

Nisky

Mussa-Ivaldi

Karniel

2013

IEEE Trans. Human-Mach. Syst.

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Abstract-In bilateral teleoperation, a human operator manipulates a remote environment through a pair of master and slave robots. Transparency quantifies the fidelity of the teleoperation system, and is typically defined as the ability to accurately display remote environment properties to the operator. We propose a novel multidimensional measure of transparency which takes into account the human operator and consists of three components: (1) perceptual transparency, which quantifies human perception of the remote environment (2) local motor transparency, which quantifies how far is the movement of the human operator from ideal, and (3) remote motor transparency which describes how far is the movement of the remote device from ideal. We suggest that for many practical applications, the goal of transparency optimization is to maintain perceptual and remote motor transparency while sacrificing local motor transparency, and that it is plausible by taking advantage of the gap between perception and action in the operators sensorimotor system. We prove analytically that for a teleoperation channel with a position and force scaling and a constant transmission delay, in a palpation and perception of stiffness task, it is possible to find gains that assure perfect perceptual and remote motor transparency while maintaining stability. We also show that stability depends on the operator maintaining sufficient arm impedance relative to environment impedance and delay.

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Section: Discussionmentioning

confidence: 99%

Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation

Nisky

Mussa-Ivaldi

Karniel

2013

IEEE Trans. Human-Mach. Syst.

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“…And, the forward or internal model is considered a basic mechanism to estimate the next state of the body parts given the current state and action [12]. Mechanism of the visuomotor control has been studied through various experimental tasks: a hand reaching test under dissociated visual information against proprioception [15], a tracking task using an impedance-controlled robot [16], and a crank turning task [17]. Many studies on the stick balancing or manual control of a pendulum are also reported [18][19][20][21][22][23][24][25], and the following facts about the skilled stick balancer are known.…”

Section: Introductionmentioning

confidence: 99%

Human Control Law and Brain Activity of Voluntary Motion by Utilizing a Balancing Task with an Inverted Pendulum

Suzuki

Harashima

Furuta

2010

Advances in Human-Computer Interaction

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Human characteristics concerning voluntary motion control are investigated, because this motion is fundamental for the machine operation and human-computer system. Using a force feedback haptic device and a balancing task of a virtual inverted pendulum, participants were trained in the task, and hand motion/force was measured, and brain activity was monitored. First, through brain analysis by near-infrared spectroscopy (NIRS) and motion analysis of the pendulum, we identified a participant who was the most expert. Next, control characteristics of the most expert were investigated by considering the operational force and delay factor of a human. As a result, it was found that predictive control based on velocity information was used predominantly although a perception feedback control against the pendulum posture worked. And it was shown that an on-off intermittency control, which was a strategy for the skilled balancing, can be described well by a liner model involving two types of time shifts for the position and velocity. In addition, it was confirmed that the cortex activity for observation in an ocular motor control area and visual processing area was strong to enhance above-mentioned control strategies.

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“…This is partly due to the fact that the computer equipments have been closer with human, and human-machine interaction has been anticipated for tasks such as hydraulic extender, rehabilitation therapy, domestic robot, entertainment, agriculture, training system, and so on [1], [2], [6]. In such applications, a human often takes the initiative motion and machines are required to amplify/assist the human's operation.…”

Section: Introductionmentioning

confidence: 99%

“…Such systems using an impedance model can be grouped roughly into two types according to whether the machine impedance property is constant or variable [2]- [4]. The human control property depends considerably on the machine impedance [6], and human-machine interaction requires the performance of machine safety rather than precision. Another performance requirements include flexibility, mechanical compliance, gentleness, adaptability toward the user, ease of use, communicative skills, and even humanoid behavior [2].…”

Section: Introductionmentioning

confidence: 99%

“…In pervious studies, generally mechanical impedance as a second-order mass-viscosity-stiffness model is utilized to support to the human's operation [2], [4]- [6]. The insufficiency of mechanical impedance model is that the parameter of model is fixed when online running, and mechanical impedance model as a mechanical entity must be mounted in a vehicle and cannot interrelate with surrounding environment.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Intelligent Cooperative System Using Fuzzy Instruction for Car-Like Driving

Zhou

Yasunobu

2008

SICE Journal of Control, Measurement, and System Integration

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: An impedance controller using fuzzy instruction to support human's operation in human-vehicle interaction is studied in this paper. Fuzzy instruction is a fuzzy set of control instruction candidates and is composed of satisfaction rating as membership value with the candidates. In order to examine the support performance of impedance controller, an effective car-like driving training system is established, and an intelligent cooperative system using fuzzy instruction is constructed. The intelligent cooperative system is applied to the training system to help trainee learn driving a vehicle safely, availably and quickly. The experimental results demonstrate that the intelligent cooperative system cooperates with trainee's operation according to the surrounding variation situation, and does adaptive support flexibly on a wide/narrow road through the car-like driving training system.

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Tracking Control Properties of Human–Robotic Systems Based on Impedance Control

Cited by 96 publications

References 33 publications

Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation

Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation

Human Control Law and Brain Activity of Voluntary Motion by Utilizing a Balancing Task with an Inverted Pendulum

An Intelligent Cooperative System Using Fuzzy Instruction for Car-Like Driving

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