Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

Ficuciello, Fanny; Villani, Luigi; Siciliano, Bruno

doi:10.1109/tro.2015.2430053

Cited by 363 publications

(175 citation statements)

References 33 publications

(64 reference statements)

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“…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]. The viscosity of CAC is conservatively designed for the worst-case stiffness, whereas the viscosity of SDVAC is always smaller than or equal to (in the worst case) the viscosity of CAC.…”

Section: Possible Improvements On the Experimentssupporting

confidence: 84%

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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: 84%

“…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%

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

“…This control method offers Cartesian control based on how much the magnitude of the force is changing, and in which direction the force is being applied on the follower. While this model has been shown to be useful for Cartesian movements, [10], [11], it does not generalize to extended objects due to the rotation-translation problem, nor does it address rotational movements alone. Other proposed models for co-manipulation include programming by demonstration (PBD) [12], [13], finite state machines (FSM) [3], [2], uncertainty control [14], and movement coordination [15].…”

Section: A State-of-the-art Controllersmentioning

confidence: 99%

Analysis of Rigid Extended Object Co-Manipulation by Human Dyads: Lateral Movement Characterization

Mielke¹,

Townsend²,

Killpack³

2017

Robotics: Science and Systems XIII

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Abstract-For co-manipulation involving humans and robots, robot controllers that are based on human-human behavior should allow more comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between human-human dyads where we recorded the force and motion data as leader-follower dyads moved in translation and rotation. The force/motion data was then analyzed for patterns found during lateral translation only. For extended objects, lateral translation and in-place rotation are ambiguous, but this paper determines a way to characterize lateral translation triggers for future use in human-robot interaction. The study has 4 main results. First, interaction forces are non-negligible and are necessary for co-manipulation. Second, minimum-jerk trajectories are found in the lateral direction only for lateral movement. Third, the beginning of a lateral movement is characterized by distinct force triggers by the leader. Fourth, there are different metrics that can be calculated to determine which dyads moved most effectively in the lateral direction.

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“…In order to increase a patient's active participation in exoskeleton-assisted rehabilitation training, it is necessary to control the exoskeleton robot to track the movement of the lower limb as per the patient's active motion intention [22,23]. Impedance controller or admittance controller have been widely used in exoskeleton control due to their characteristics of human and robot physical interaction [24,25]. The impedance controller calculates the force exerted by the robot to achieve the specified displacement.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Sliding Mode Variable Admittance Control Method for Lower Limb Rehabilitation Exoskeleton Robot

Zhu

Song

et al. 2020

Applied Sciences

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As passive rehabilitation training with fixed trajectory ignores the active participation of patients, in order to increase the active participation of patients and improve the effect of rehabilitation training, this paper proposes an innovative adaptive sliding mode variable admittance (ASMVA) controller for the Lower Limb Rehabilitation Exoskeleton Robot. The ASMVA controller consists of an outer loop with variable admittance controller and an inner loop with an adaptive sliding mode controller. It estimates the wearer's active muscle strength and movement intention by judging the deviation between the actual and standard interaction force of the wearer's leg and the exoskeleton, thereby adaptively changing admittance controller parameters to alter training intensity. Three healthy volunteers engaged in further experimental studies, including trajectory tracking experiments with no admittance, fixed admittance, and variable admittance adjustment. The experimental results show that the proposed ASMVA control scheme has high control accuracy. Besides, the ASMVA can not only increase training intensity according to the active muscle strength of the patient during positive movement intention (so as to increase active participation of the patient), but also increase the amount of trajectory adjustment during negative movement intention to ensure the safety of the patient.

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Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

Cited by 363 publications

References 33 publications

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Analysis of Rigid Extended Object Co-Manipulation by Human Dyads: Lateral Movement Characterization

An Adaptive Sliding Mode Variable Admittance Control Method for Lower Limb Rehabilitation Exoskeleton Robot

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