Fuzzy Impedance Control for Enhancing Capabilities of Humans in Onerous Tasks Execution

Roveda, Loris; Haghshenas, Shaghavezh; Prini, Alessio; Dinon, Tito; Pedrocchi, Nicola; Braghin, Francesco; Tosatti, Lorenzo Molinari

doi:10.1109/urai.2018.8441800

Cited by 21 publications

(15 citation statements)

References 25 publications

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“…Remark 2.The proposed controller extends the work in [20] including improved fuzzy membership functions and rules, together with the proposed lower level gain scheduling optimal controller.…”

Section: Rule Basementioning

confidence: 65%

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

Mauri¹,

Lettori²,

Fusi

et al. 2019

Preprint

Self Cite

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Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparency, ergonomics, safety, etc.). However, the most of the investigated solutions involve high-cost hardware, complex design solutions and standard actuation. In the presented work, an industrial exoskeleton for lifting and transportation of heavy parts is proposed. A low-cost mechanical design solution is proposed, exploiting compliant actuation at the shoulder joint to increase safety and transparency in human-robot cooperation. A hierarchic model-based controller is then proposed (including the modeling of the compliant actuator) to actively assist the human while executing the task. An inner optimal controller is proposed for trajectory tracking, while an outer fuzzy logic controller is proposed to online deform the task trajectory on the basis of the human’s intention of motion. A gain scheduler is also designed to calculate the optimal control gains on the basis of the performed trajectory. Simulations have been performed in order to validate the performance of the proposed device, showing promising results. The prototype is under realization.

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Section: Rule Basementioning

confidence: 65%

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

Mauri¹,

Lettori²,

Fusi

et al. 2019

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…The proposed controller extends the work in Reference [49] including improved fuzzy membership functions and rules, together with the proposed lower level gain scheduling optimal controller.…”

Section: Remarkmentioning

confidence: 65%

“…In particular, 20 subjects will be considered in the experimental tests. Both cognitive evaluation (based on questionnaires) and quantitative evaluation (based on EMG measurements) will be performed as in Reference [49]. In addition, authors will apply to the second call of the EUROBENCH project to test the proposed exoskeleton in the EUROBENCH exoskeletons benchmark facility, where the leading author Roveda is also leading the STEPbySTEP project [51].…”

Section: Discussionmentioning

confidence: 99%

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

et al. 2019

Self Cite

View full text Add to dashboard Cite

Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparency, ergonomics, safety, etc.). However, the most of the investigated solutions involve high-cost hardware, complex design solutions and standard actuation. Moreover, state-of-the-art empowering controllers do not allow for online assistance regulation and do not embed advanced safety rules. In the presented work, an industrial exoskeleton with high payload ratio for lifting and transportation of heavy parts is proposed. A low-cost mechanical design solution is described, exploiting compliant actuation at the shoulder joint to increase safety in human-robot cooperation. A hierarchic model-based controller with embedded safety rules is then proposed (including the modeling of the compliant actuator) to actively assist the human while executing the task. An inner optimal controller is proposed for trajectory tracking, while an outer safety-based fuzzy logic controller is proposed to online deform the task trajectory on the basis of the human’s intention of motion. A gain scheduler is also designed to calculate the inner optimal control gains on the basis of the performed trajectory. Simulations have been performed in order to validate the performance of the proposed device, showing promising results. The prototype is under realization.

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“…Cooperative robots (e.g. wearable robotics and collaborative manipulators) will empower human operators in industrial tasks by improving ergonomics and reducing musculoskeletal stress [61]. However, it is also necessary to carefully analyse the societal impact of a co-working robot in an industrial environment [62].…”

Section: Societal Impactmentioning

confidence: 99%

Key Research Priorities for Factories of the Future—Part I: Missions

Tolio

Copani

Terkaj

2019

Factories of the Future

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This chapter investigates research priorities for factories of the future by adopting an approach based on mission-oriented policies to support manufacturing innovation. Missions are challenging from a scientific and technological point of view and, at the same time, are addressing problems and providing results that are understandable by common people. Missions are based on clear targets that can help mitigating grand challenges. Based on the results of the Italian Flagship Project Factories of the Future, this chapter proposes seven missions while identifying the societal impact, the technological and industrial challenges, and the barriers to be overcome. These missions cover topics such as circular economy, rapid and sustainable industrialisation, robotic assistant, factories for personalised medicine, internet of actions, factories close to the people, and turning ideas into products. The accomplishment of missions asks for the support of a proper research environment in terms of infrastructures to test and demonstrate the results to a wide public. Research infrastructures together with funding mechanisms will be better addressed in the next chapter of this book. 20.1 Mission-Oriented Research and Innovation Policies The importance of the manufacturing industry both for developed and developing countries has been assessed in several works [1-4], which highlight the need of continuous innovation to cope with societal grand challenges [5]. The results of inno-T. Tolio Director of the Italian Flagship Project "Factories of the Future", Direttore del Progetto Bandiera "La Fabbrica del Futuro",

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Fuzzy Impedance Control for Enhancing Capabilities of Humans in Onerous Tasks Execution

Cited by 21 publications

References 25 publications

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks

Key Research Priorities for Factories of the Future—Part I: Missions

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