Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction^*

Abstract

We designed and validated two interfaces for physical human-robot interaction that utilize torso motions for hands-free navigation control of riding or remote mobile robots. The Torso-dynamics Estimation System (TES), which consisted of an instrumented seat (Force Sensing Seat, FSS) and a wearable sensor (inertial measurement unit, IMU), was developed to quantify the translational and rotational motions of the torso, respectively. The FSS was constructed from six uniaxial loadcells to output 3D resultant forces and torques, which were used to compute the translational movement of the 2D center of pressure (COP) under the seated user. Two versions of the FSS (Gen 1.0 and 2.0) with different loadcell layouts, materials, and manufacturing methods were developed to showcase the versatility of the FSS design and construction. Both FSS versions utilized low-cost components and a simple calibration protocol to correct for dimensional inaccuracies. The IMU, attached on the user's upper chest, used a proprietary algorithm to compute the 3D torso angles without relying heavily on magnetometers to minimize errors from electromagnetic noises. A validation study was performed on eight test subjects (six able-bodied users and two manual wheelchair users with reduced torso range of motion) to validate TES estimations by comparing them to data collected on a research-grade force plate and motion capture system. TES readings displayed high accuracy (average RMSE of 3D forces, 3D torques, 2D COP, and torso angles were well less than maximum limits of 5N, 5Nm, 10mm, and 6˚, respectively).