Cooperative motion control of a robot and a human

Ikeura, Ryojun; Monden, H.; Inooka, Hikaru

doi:10.1109/roman.1994.365946

Cited by 108 publications

(51 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The group of Ikeura investigated the feedback behavior of a following manipulator during cooperative object transport. Human impedance characteristics were found to be the best in terms of subjective scores (Ikeura et al, 1994) and to enable natural movement profiles (Ikeura et al, 2002). All of these approaches consider robotic partners that react on user operation which certainly limits these devices' capabilities.…”

Section: Related Workmentioning

confidence: 99%

The role of roles: Physical cooperation between humans and robots

Mörtl

Lawitzky

Küçükyılmaz

et al. 2012

The International Journal of Robotics Research

252

176

View full text Add to dashboard Cite

Since strict separation of working spaces of humans and robots experiences a softening due to recent robotics research achievements, close interaction of humans and robots comes rapidly into reach. In this context, physical human-robot interaction raises a number of questions regarding a desired intuitive robot behavior. The continuous bilateral information and energy exchange requires an appropriate continuous robot feedback. Investigating a cooperative manipulation task, the desired behavior is a combination of an urge to fulfill the task, a smooth instant reactive behavior to human force inputs and an assignment of the task effort to the cooperating agents. In this paper, a formal analysis of human-robot cooperative load transport is presented. Three different possibilities for the assignment of task effort are proposed. Two proposed dynamic role exchange mechanisms adjust the robot's urge to complete the task based on the human feedback. For comparison, a static role allocation strategy not relying on the human agreement feedback is proposed as well. All three role allocation mechanisms are evaluated in a user study that involves large-scale kinesthetic interaction and full-body human motion. Results show tradeoffs between subjective and objective performance measures stating a clear objective advantage of the proposed dynamic role allocation scheme.

show abstract

Section: Related Workmentioning

confidence: 99%

The role of roles: Physical cooperation between humans and robots

Mörtl

Lawitzky

Küçükyılmaz

et al. 2012

The International Journal of Robotics Research

252

176

View full text Add to dashboard Cite

show abstract

“…Ikeura et al have developed humanfriendly robotic approaches in which the robot copies the human characteristics while helping the user carry an object [10]. Lum et al have developed a similar system in which a robotic apparatus supports a stroke patient's paralyzed hand to correct the orientation of an object carried by the patient (e.g., a cafeteria tray) [11].…”

Section: Human-centered Roboticsmentioning

confidence: 99%

Human-centered robotics applied to gait training and assessment

Riener¹,

Lünenburger²,

Colombo³

2006

JRRD

143

View full text Add to dashboard Cite

Abstract-Robot-aided gait training can increase the duration and number of training sessions while reducing the number of therapists required for each patient. However, current automated gait trainers do not adapt their movement to the patient's muscular efforts and passive musculoskeletal properties. Furthermore, robot-aided training without therapists lacks the feedback required for patient assessment. In this article, we present results from the literature and our research to provide an overview of novel human-centered strategies for robot behaviors that are patient-cooperative and support motorfunction assessment. Combining robot-aided training with robot-aided assessment will likely make future gait therapy easier, more comfortable, and more efficient. Broad clinical testing is still required for proving this assumption.

show abstract

“…Then it is written in the former chapter, a worker operates on the scaffold. Moderate viscosity resistance is available for operation [17] [18]. In this paper, it is anticipated that a straight-line movement operability of the machine improved by incorporating viscosity resistance in joints.…”

Section: An Assessment Methodsmentioning

confidence: 99%

Operability Assessment of Indoor Dismantlement Assistance Machine

Shimoi¹,

Kanemaru

Fujishima

et al. 2006

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

View full text Add to dashboard Cite

Hydraulic crushers are available in dismantlement circumstance for example office buildings. Because the crushers weigh 35 to 50kg, adopting new accessory functions were highly expected for saving work/worker and improvements on safety. In this study, an indoor dismantlement assistance machine, which could be stably controlled by a single worker, was developed and operability assessment was done. For operability assessment, two conditions: easy-to-move on (ⅰ).one direction, (ⅱ). every direction, are compared to evaluate the priority of work efficiency. First, notation system to combine the machine's Mobility Ellipsoid and the worker's Manipulating Force Ellipsoid into one ellipsoid (i.e. Workability Ellipsoid) was suggested. The Workability Ellipsoid describes the machine-head mobility distribution, and the major axis direction: its length varies with its viscosity resistance and the working posture. By adopting this feature, the crane arm's viscosity resistance and the working posture were decided.

show abstract

Cooperative motion control of a robot and a human

Cited by 108 publications

References 5 publications

The role of roles: Physical cooperation between humans and robots

The role of roles: Physical cooperation between humans and robots

Human-centered robotics applied to gait training and assessment

Operability Assessment of Indoor Dismantlement Assistance Machine

Contact Info

Product

Resources

About