Human-preference-based control design: Adaptive robot admittance control for physical human-robot interaction

Okunev, Vladislav; Nierhoff, Thomas; Hirche, Sandra

doi:10.1109/roman.2012.6343792

Cited by 39 publications

(24 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…SHER normally operates under a variable admittance control scheme where the fundamental user input is the force applied on the instrument handle, which in turn controls the velocity by which the robot follows the user directed motion [8]. Current robot-assisted retinal surgery relies on the surgeon’s fine motor skills, experience, and cognitive judgments.…”

Section: Control Algorithmmentioning

confidence: 99%

Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery

et al. 2017

View full text Add to dashboard Cite

In vitreoretinal surgery instruments are inserted through the sclera to perform precise surgical maneuvers inside the eyeball, which exceeds typical human capabilities. Robotic assistance can enhance the skills of a novice surgeon, provide guidance during tool manipulation based on the desired behavior defined by expert surgeons’ maneuvers, and consequently improve the surgical outcome. This paper presents an experimental study characterizing the safe/desired magnitude of forces between the surgical instrument and the sclera insertion port as a function of the tool insertion depth. We explore two types of regressions, a polynomial and a sum of sines fit, to describe the observed user behavior during our one-user pilot study, based on which a variable admittance control scheme can be implemented to robotically guide other users towards this desired behavior for a safe operation.

show abstract

Section: Control Algorithmmentioning

confidence: 99%

Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery

et al. 2017

View full text Add to dashboard Cite

show abstract

“…The investigated VAC algorithm attempts to minimize the interaction force during whole navigation process of the coupled humanexoskeleton system, i.e. better tracking performance [41,42].…”

Section: G Variable Admittance Control (Vac)mentioning

confidence: 99%

Survey of On-line Control Strategies of Human-Powered Augmentation Exoskeleton Systems

Aia¹,

Cheng²,

X³

et al. 2016

Adv Robot Autom

View full text Add to dashboard Cite

On-line gait control in human-powered exoskeleton systems is still rich research field and represents a step towards fully autonomous, safe and intelligent indoor and outdoor navigation. It is still a big challenge to develop a control strategy which makes the exoskeleton supply an efficient tracking for pilot intended trajectories on-line. Considering the number of degrees of freedom the lower limb exoskeletons are simpler to design, compared to upper limb. The comparison between lower limb and upper limb is useless when consider the control issues, because of the differences in missions and applications. Based on the literature, we aim to give an overview about control strategies of some famous lower limb human power exoskeleton systems. In the state of the art, different control strategies and approaches for different types of lower limb exoskeletons will be compared consider the efficiency and economic issues. Exact estimation of needed joints torques to execute human intended motions on-line with efficient performance, low cost and reliable way is the main goal of studied system's control strategies. We have study different control strategies used for wide known human power augmentation exoskeletons and compare between them in graphs and tables.

show abstract

“…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

View full text Add to dashboard Cite

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.

show abstract

Human-preference-based control design: Adaptive robot admittance control for physical human-robot interaction

Cited by 39 publications

References 11 publications

Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery

Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery

Survey of On-line Control Strategies of Human-Powered Augmentation Exoskeleton Systems

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

Contact Info

Product

Resources

About