Human–Robot Interaction Control Based on a General Energy Shaping Method

Lyu, Shangke; Cheah, Chien Chern

doi:10.1109/tcst.2019.2949525

Cited by 22 publications

(11 citation statements)

References 31 publications

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“…All the above studies have in common use of several tools to achieve the safety required by the medical procedure. The safety may be achieved through an effective correlation between the kinematics of the medical robot [18][19][20][21][22][23] and the control system [24][25][26][27][28][29][30][31] used to actuate the robotic structure with respect to human-robot interactions [32][33][34][35].…”

Section: Introductionmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure.

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Section: Introductionmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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“…Due to the limitation of the experimental platform UR 10, where the joint torques cannot be directly controlled, which are quite common for industrial robot manipulators, the proposed approach is indirectly implemented by sending the joint velocity commands. The effectiveness of this method has already been validated in [17], [46]. A reference model is built based on the (7) without the lumped uncertainty term D x .…”

Section: A Experimental Setupmentioning

confidence: 99%

A Robust Region Control Approach for Simultaneous Trajectory Tracking and Compliant Physical Human-Robot Interaction

Li¹,

LU²,

Chen³

et al. 2022

Preprint

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n this work, the uncertainty and disturbance estimator (UDE)-based robust region reaching controller for a robot manipulator is developed to achieve the moving target region trajectory tracking and complaint human robot interaction inside the target region. The regional feedback error is derived from the potential function to drive the robot manipulator end effector converging into the target region. Under the back-stepping control framework, the UDE is fused into the region tracking control law to estimate and compensate the model uncertainty and external disturbance. Both simulation and experimental studies are carried out with a universal robots (UR) 10 manipulator to demonstrate the effectiveness of the proposed method for moving target trajectory tracking, model uncertainty and external disturbance rejection, and compliant human robot interaction within the target region.

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“…Lyu et al propose the definition of a potential energy function around the obstacle. Thus, the robot will follow the optimal minimum energy path to accomplish its task [116]. In contrast, Ding and Thomas propose a robot-mounted exteroceptive range sensor to avoid the collision for redundant serial robot manipulators.…”

Section: ) Environment Avoidancementioning

confidence: 99%

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

et al. 2021

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The demand for collaborative robots is growing in industrial environments due to their versatility and low prices. Thus, more collaborative solutions are emerging for industrial scenarios. However, implementing scenarios where robots work autonomously while synchronizing their operations in a safe industrial environment with shop-floor workers is not easy. To fill the gap existing in the safe implementation of industrial collaborative scenarios, this manuscript presents a review based on five identified challenges that gathers the primary vital aspects to bear in mind while developing applications for them. Thus, a four-level classification is proposed, which collects the identified challenges and the previous developments in the field of human-robot interaction. The five identified challenges pretends to be the missing enabling key for implementing industrial collaborative scenarios in modern industrial plants. Lastly, a discussion and conclusion are exposed to analyze the degree of development in the field and its potential growth.

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Human–Robot Interaction Control Based on a General Energy Shaping Method

Cited by 22 publications

References 31 publications

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

A Robust Region Control Approach for Simultaneous Trajectory Tracking and Compliant Physical Human-Robot Interaction

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

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