An admittance-controlled wheeled mobile manipulator for mobility assistance: Human–robot interaction estimation and redundancy resolution for enhanced force exertion ability

Xing, Hongjun; Torabi, Ali; Ding, Liang; Gao, Haibo; Deng, Zongquan; Mushahwar, Vivian K.; Tavakoli, Mahdi

doi:10.1016/j.mechatronics.2021.102497

Cited by 33 publications

(16 citation statements)

References 28 publications

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“…An experimental campaign is conducted to compare the proposed assistive strategies described in Sec. III along with the one presented in [17] (henceforth, referred to as Horizontal Wall Assistance (HWA)), which is used as the baseline. The experiments of this work were carried out considering the standing case only.…”

Section: Experiments and Resultsmentioning

confidence: 99%

“…A quantitative and qualitative analysis was carried out to evaluate the performance of both strategies. Moreover, a comparison of our proposals with the strategy previously proposed in [17] is conducted. The outcomes of this work stated that our strategies perform better than the baseline methodology.…”

Section: Discussionmentioning

confidence: 99%

“…However, this approach has hardly been addressed in the literature. To the best of the authors' knowledge, the only work that uses a mobile manipulator for this purpose was presented by Xing et al in [17]. The proposed system uses a mobile manipulator as a cane to help the elderly during walking.…”

Section: Introductionmentioning

confidence: 99%

“…An experimental session with 12 healthy human subjects is performed. During the experiments, the proposed strategies are tested and compared along with the strategy proposed in [17], considered a benchmark. A discussion based on a quantitative and qualitative comparison of the three approaches is carried out considering the data recorded during the experiments and the questionnaires filled in by the participants.…”

Section: Introductionmentioning

confidence: 99%

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Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot

Ruiz‐Ruiz¹,

Giammarino²,

Lorenzini³

et al. 2021

Preprint

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This letter presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot with an interaction-assistive whole-body interface to help people unable to maintain balance. The robotic system consists of an Omni-directional mobile base, a high-payload robotic arm, and an admittance-type interface acting as a support handle while measuring human-sourced interaction forces. The postural balance of the human body is estimated through the projection of the body Center of Mass (CoM) to the support polygon (SP) representing the quasi-static Center of Pressure (CoP). In response to the interaction forces and the tracking of the human posture, the robot can create assistive forces to restore balance in case of its loss. Otherwise, during normal stance or walking, it will follow the user with minimum/no opposing forces through the generation of coupled arm and base movements. As the balance-restoring strategy, we propose two strategies and evaluate them in a laboratory setting on healthy human participants. Quantitative and qualitative results of a 12-subjects experiment are then illustrated and discussed, comparing the performances of the two strategies and the overall system.

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Section: Experiments and Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot

Ruiz‐Ruiz¹,

Giammarino²,

Lorenzini³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Many research groups over the world have worked in this area [6][7][8], and the exoskeleton robots for different rehabilitation parts have been presented [9][10][11]. To improve the rehabilitation training and safety of exoskeleton robot, researchers have been exploring new design and control methods of human-robot interaction system [12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Motion intensity modeling and trajectory control of upper limb rehabilitation exoskeleton robot based on multi-modal information

Wang

Zhang

Wang

et al. 2022

Complex Intell. Syst.

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The motion intensity of patient is significant for the trajectory control of exoskeleton robot during rehabilitation, as it may have important influence on training effect and human–robot interaction. To design rehabilitation training task according to situation of patients, a novel control method of rehabilitation exoskeleton robot is designed based on motion intensity perception model. The motion signal of robot and the heart rate signal of patient are collected and fused into multi-modal information as the input layer vector of deep learning framework, which is used for the human–robot interaction model of control system. A 6-degree of freedom (DOF) upper limb rehabilitation exoskeleton robot is designed previously to implement the test. The parameters of the model are iteratively optimized by grouping the experimental data, and identification effect of the model is analyzed and compared. The average recognition accuracy of the proposed model can reach up to 99.0% in the training data set and 95.7% in the test data set, respectively. The experimental results show that the proposed motion intensity perception model based on deep neural network (DNN) and the trajectory control method can improve the performance of human–robot interaction, and it is possible to further improve the effect of rehabilitation training.

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Impedance Control with Bounded Actions for Human–Robot Interaction

2022

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An admittance-controlled wheeled mobile manipulator for mobility assistance: Human–robot interaction estimation and redundancy resolution for enhanced force exertion ability

Cited by 33 publications

References 28 publications

Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot

Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot

Motion intensity modeling and trajectory control of upper limb rehabilitation exoskeleton robot based on multi-modal information

Impedance Control with Bounded Actions for Human–Robot Interaction

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