Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans.

Rahman, Mozasser; Ikeura, Ryojun; Mizutani, Kazuki

doi:10.1299/jsmec.45.510

Cited by 104 publications

(60 citation statements)

References 18 publications

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“…Engelbrecht also studied effect of a weight. There is also work in robotics based on minimum jerk model and impedance characterization of human arm, see for instance [11] [12] and more recently [13]. In the first two references, the minimum jerk model was supposed to apply in cooperative mode.…”

Section: A Brief Reviewmentioning

confidence: 99%

Human motion in cooperative tasks: Moving object case study

Miossec¹,

Kheddar²

2009

2008 IEEE International Conference on Robotics and Biomimetics

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Abstract-This paper describes results obtained in a preliminary investigation of a cooperative task consisting, for a pair of human operators, in moving a handle-shaped object between two predefined locations on a table. Seated, the operators use only upper body with single hand and arms in achieving this task. In a first step, each subject realized the task in a standalone mode. In a second step, pairs of subjects realized a similar task in a cooperative way. We used standalone results as a reference model to be compared with results obtained from cooperative experiments. Obtained results revealed that it is difficult to fit the minimum jerk model as a task motion characterization in both standalone and cooperative modes. However, we found an invariant velocity shape both for standalone and cooperation situations that can be used as a basic model for a robotic implementation. We noticed that the shape of the parabolic trajectory is always higher in cooperative tasks, although the weight of the object used in cooperative mode is exactly twice the one used in a standalone mode.

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Section: A Brief Reviewmentioning

confidence: 99%

Human motion in cooperative tasks: Moving object case study

Miossec¹,

Kheddar²

2009

2008 IEEE International Conference on Robotics and Biomimetics

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“…This model represents a large range of environments [40]. For example, it may describe the dynamics of a human limb in physical human-robot interaction [16], or the dynamics of a viscoelastic object in robotic manipulation.…”

Section: A Dynamic Modelmentioning

confidence: 99%

“…Besides, a fixed impedance model may not suffice in many applications, and variable impedance is necessary [12], [13]. Therefore, to obtain the critical values of desired impedance parameters is essential and it is still an open problem due to the extreme difficulty of environment modeling [14], [15], [16]. Instead of modeling environments, human beings adjust their limb impedance through repetitive learning subject to unknown environments.…”

Section: Introductionmentioning

confidence: 99%

Impedance Learning for Robots Interacting With Unknown Environments

2014

IEEE Trans. Contr. Syst. Technol.

130

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Abstract-In this paper, impedance learning is investigated for robots interacting with unknown environments. A twoloop control framework is employed and adaptive control is developed for the inner-loop position control. The environments are described as time-varying systems with unknown parameters in the state-space form. The gradient-following scheme and betterment scheme are employed to obtain a desired impedance model, subject to unknown environments. The desired interaction performance is achieved in the sense that a defined cost function is minimized. Simulation and experiment studies are carried out to verify the validity of the proposed method.

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“…Substituting the kinematic constraints (1), (2), and (3) into the dynamic model (4), we obtain the dynamic model of the robot arm in the Cartesian space, as below…”

Section: A System Descriptionmentioning

confidence: 99%

“…Indeed, human beings' superb capabilities of situation awareness and decision making naturally predispose them to take on a leader's role. Under this model, variable impedance control is developed by estimating impedance parameters of the human arm and adjusting impedance parameters of the robot arm [2], [3]. Recently, many researchers have recognized the importance of a framework beyond the leader-follower model [4].…”

Section: Introductionmentioning

confidence: 99%

Shared control of human and robot by approximate dynamic programming

Tee

Yan

et al. 2015

2015 American Control Conference (ACC)

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Abstract-This paper aims at proposing a general framework of human-robot shared control for a natural and effective interface. A typical human-robot collaboration scenario is investigated, and a framework of shared control is developed based on finding the solution to an optimization problem. Human dynamics are taken into account in the analysis of the coupled human-robot system, and objectives of both human and robot are considered. Approximate dynamic programming is employed to solve the optimization problem in the presence of unknown human and robot dynamics. The validity of the proposed method is verified through simulation studies.

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Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans.

Cited by 104 publications

References 18 publications

Human motion in cooperative tasks: Moving object case study

Human motion in cooperative tasks: Moving object case study

Impedance Learning for Robots Interacting With Unknown Environments

Shared control of human and robot by approximate dynamic programming

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