Joint Torque Estimation using Base Force-Torque Sensor to Facilitate Physical Human-Robot Interaction (pHRI)

Das, Sumit Kumar; Saadatzi, Mohammad Nasser; Abubakar, Shamsudeen; Popa, Dan O.

doi:10.1109/coase.2019.8843092

Cited by 6 publications

(3 citation statements)

References 20 publications

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“…The decisions are taken based on the distance between the robot TCP and the obstacle d RO = ρ(x R , x O ). When d RO is bigger than the avoidance threshold distance d AT , the algorithm deploys the position controller that is represented in (3). When d RO is smaller than the critical threshold distance of activation d ACT , the robot initiates a free drive control mode.…”

Section: B Control Algorithmmentioning

confidence: 99%

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CobotGear: Interaction with Collaborative Robots using Wearable Optical Motion Capturing Systems

Heredia

Cabrera

Tirado

et al. 2020

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)

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In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the human-robot collaboration, we introduce a system that presents a new method that integrates low-cost wearable mocap, and an improved collision avoidance algorithm based on the artificial potential fields. Wearable optical motion capturing allows to track the human hand position with high accuracy and low latency on large working areas. To increase the efficiency of the proposed algorithm, two obstacle types are discriminated according to their collision probability. A preliminary experiment was performed to analyze the algorithm behavior and to select the best values for the obstacle's threshold angle θOBS, and for the avoidance threshold distance dAT . The second experiment was carried out to evaluate the system performance with dAT = 0.2 m and θOBS = 45 degrees. The third experiment evaluated the system in a real collaborative task. The results demonstrate the robust performance of the robotic arm generating smooth collision-free trajectories. The proposed technology will allow consumer robots to safely collaborate with humans in cluttered environments, e.g., factories, kitchens, living rooms, and restaurants.

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Section: B Control Algorithmmentioning

confidence: 99%

“…To provide the human-robot collaboration, the robot is equipped with the sensors to detect the collision with humans. For example, force-torque sensors have been used at the end-effector [2], or at the base [3]. In [4], an obstacle avoidance control through tactile perception using optical torque sensors was introduced.…”

Section: Introductionmentioning

confidence: 99%

CobotGear: Interaction with Collaborative Robots using Wearable Optical Motion Capturing Systems

Heredia

Cabrera

Tirado

et al. 2020

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)

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show abstract

“…Furthermore, many intelligent methods have been applied to the problem of force estimation, such as training neural networks to estimate joint torque, 22 to learn system dynamic models 23 or to eliminate undesirable noise in DOBs; 24,25 nevertheless, there is uncertain training performance for every neural network. In the research on the accurate reconstruction of force information, multi-sensor fusion is also a common method to improve the accuracy of feedback signal.…”

Section: Introductionmentioning

confidence: 99%

A globally exponentially stable observer for torque estimation with only position measurement

Liu,

Yue,

Wen

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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A novel estimation scheme for joint torque information is constructed by observer design method in the case that force/torque/velocity/acceleration sensors of manipulator are not available. Based on generalized dynamic scaling function and scalar filtering, the globally exponentially stable observer for torque estimation with only position measurement is presented in this article. The main contribution lies in the development of the classic Nicosia observer with performance improvements and significant order reduction compared to the existing results. Comparative simulations demonstrate the effectiveness and superiority of the proposed scheme.

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CoHaptics: Development of Human-Robot Collaborative System with Forearm-worn Haptic Display to Increase Safety in Future Factories

Cabrera

Heredia

Tirado

et al. 2021

2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)

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Joint Torque Estimation using Base Force-Torque Sensor to Facilitate Physical Human-Robot Interaction (pHRI)

Cited by 6 publications

References 20 publications

CobotGear: Interaction with Collaborative Robots using Wearable Optical Motion Capturing Systems

CobotGear: Interaction with Collaborative Robots using Wearable Optical Motion Capturing Systems

A globally exponentially stable observer for torque estimation with only position measurement

CoHaptics: Development of Human-Robot Collaborative System with Forearm-worn Haptic Display to Increase Safety in Future Factories

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