VARIABLE IMPEDANCE CONTROL BASED ON ESTIMATION OF HUMAN ARM STIFFNESS FOR HUMAN-ROBOT COOPERATIVE TASK : Human-Robot Cooperative Calligraphic Task

Tsumugiwa, Toru; Yokogawa, Ryuichi; Hara, Kei

doi:10.1299/jsmeintmovic.6.1.403

Cited by 30 publications

(30 citation statements)

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“…In Tsumugiwa et al ( 2002 ) the damping coefficient of the impedance control is adapted on the basis of the estimated human arm stiffness. The main contribution of the paper is the definition of a methodology for the variation of the damping coefficient of the impedance control in order to achieve a stable interaction with the human, making the human-robot cooperation safe.…”

Section: Introductionmentioning

confidence: 99%

Assisting Operators in Heavy Industrial Tasks: On the Design of an Optimized Cooperative Impedance Fuzzy-Controller With Embedded Safety Rules

et al. 2019

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Human-robot cooperation is increasingly demanded in industrial applications. Many tasks require the robot to enhance the capabilities of humans. In this scenario, safety also plays an important role in avoiding any accident involving humans, robots, and the environment. With this aim, the paper proposes a cooperative fuzzy-impedance control with embedded safety rules to assist human operators in heavy industrial applications while manipulating unknown weight parts. The proposed methodology is composed by four main components: (i) an inner Cartesian impedance controller (to achieve the compliant robot behavior), (ii) an outer fuzzy controller (to provide the assistance to the human operator), (iii) embedded safety rules (to limit force/velocity during the human-robot interaction enhancing safety), and (iv) a neural network approach (to optimize the control parameters for the human-robot collaboration on the basis of the target indexes of assistance performance defined for this purpose). The main achieved result refers to the capability of the controller to deal with uncertain payloads while assisting and empowering the human operator, both embedding in the controller safety features at force and velocity levels and minimizing the proposed performance indexes. The effectiveness of the proposed approach is verified with a KUKA iiwa 14 R820 manipulator in an experimental procedure where human subjects evaluate the robot performance in a collaborative lifting task of a 10 kg part.

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Section: Introductionmentioning

confidence: 99%

Assisting Operators in Heavy Industrial Tasks: On the Design of an Optimized Cooperative Impedance Fuzzy-Controller With Embedded Safety Rules

et al. 2019

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“…Later, VIC was used to provide a coordination mechanism between robot and human (Al-Jarrah and Zheng, 1997 ). Tsumugiwa et al ( 2002 ) introduced a variable impedance control based on the human arm stiffness estimation. They varied the virtual damping coefficient of the robot as a function of the estimated stiffness of a human arm, and differential changes in position and force.…”

Section: Variable Impedance Control (Vic)mentioning

confidence: 99%

Variable Impedance Control and Learning—A Review

2020

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Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a prominent approach in robotics to avoid large impact forces while operating in unstructured environments. In such environments, the conditions under which the interaction occurs may significantly vary during the task execution. This demands robots to be endowed with online adaptation capabilities to cope with sudden and unexpected changes in the environment. In this context, variable impedance control arises as a powerful tool to modulate the robot's behavior in response to variations in its surroundings. In this survey, we present the state-of-the-art of approaches devoted to variable impedance control from control and learning perspectives (separately and jointly). Moreover, we propose a new taxonomy for mechanical impedance based on variability, learning, and control. The objective of this survey is to put together the concepts and efforts that have been done so far in this field, and to describe advantages and disadvantages of each approach. The survey concludes with open issues in the field and an envisioned framework that may potentially solve them.

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“…Having a more detailed look at these three components, one can observe the common relationship k e b e δm e between the displaced mass (δm e ), the damping coefficient (b e ), and the stiffness (k e ) for most of the physical systems. 43,44 In other words, a considerably high proportion of the interaction force is created by the stiffness of the environment. Another interpretation of this approximation is the possibility of disregarding the transient dynamics and focusing on the steady-state value of the interaction force during force control.…”

Section: Environment Modelmentioning

confidence: 99%

Performance improvement of bilateral control systems using derivative of force

Baran

Uzunović²,

Şabanoviç³

2018

Robotica

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SUMMARYThis paper proposes a bilateral control structure with a realization of the force derivative in the control loop. Due to the inherent noisy nature of the force signal, most teleoperation schemes can make use of only a proportional (P) control structure in the force channel of the bilateral controllers. In the proposed scheme, an α–β–γ filter is designed to smoothly differentiate the force signal obtained from a reaction force observer integrated to both of the master and slave plants. The differentiated force signal is then used in a proportional-derivative (PD) force controller working together with a disturbance observer. In order to design the overall bilateral controller, an environment model based on pure spring structure is assumed. The controller is designed to enforce an exponentially decaying tracking error for both position and force signals. With the presented controller design approach, one can independently tune the controller gains of the force and the position control channels. The proposed approach is experimentally tested in a platform consisted of direct drive linear motors. As illustrated by the experiment results, the contribution of the PD control in the force channel improves the teleoperation performance especially under hard-contact motion scenarios by attenuating the oscillations, hence, improving the transparency when compared to the structures using only a P force control.

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VARIABLE IMPEDANCE CONTROL BASED ON ESTIMATION OF HUMAN ARM STIFFNESS FOR HUMAN-ROBOT COOPERATIVE TASK : Human-Robot Cooperative Calligraphic Task

Abstract: Human-Robot Cooperative Calligraphic Task -m Toru TSUMUCIWA' , Ryuichi YOKOGAWA' and Kei HARA' t)epat'rinent qf A,fechani('al Ett,gineeriii,g, Dt)shisha U"iL'ei'sit.y E-nraiL' * tt"rtt@Jnctht)rohct.tte,ip, ** f r.yoA'qgau' , k'

Cited by 30 publications

References 0 publications

Assisting Operators in Heavy Industrial Tasks: On the Design of an Optimized Cooperative Impedance Fuzzy-Controller With Embedded Safety Rules

Assisting Operators in Heavy Industrial Tasks: On the Design of an Optimized Cooperative Impedance Fuzzy-Controller With Embedded Safety Rules

Variable Impedance Control and Learning—A Review

Performance improvement of bilateral control systems using derivative of force

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VARIABLE IMPEDANCE CONTROL BASED ON ESTIMATION OF HUMAN ARM STIFFNESS FOR HUMAN-ROBOT COOPERATIVE TASK : Human-Robot Cooperative Calligraphic Task

Abstract: Human-Robot Cooperative Calligraphic Task -m Toru TSUMUCIWA' , Ryuichi YOKOGAWA*' and Kei HARA*' t)epat'rinent qf A,fechani('al Ett,gineeriii,g, Dt)shisha U"iL'ei'sit.y E-nraiL' * tt"rtt@Jnctht)rohct.tte,ip, ** f r.yoA'qgau' , k'

Cited by 30 publications

References 0 publications

Assisting Operators in Heavy Industrial Tasks: On the Design of an Optimized Cooperative Impedance Fuzzy-Controller With Embedded Safety Rules

Assisting Operators in Heavy Industrial Tasks: On the Design of an Optimized Cooperative Impedance Fuzzy-Controller With Embedded Safety Rules

Variable Impedance Control and Learning—A Review

Performance improvement of bilateral control systems using derivative of force

Contact Info

Product

Resources

About

Abstract: Human-Robot Cooperative Calligraphic Task -m Toru TSUMUCIWA' , Ryuichi YOKOGAWA' and Kei HARA' t)epat'rinent qf A,fechani('al Ett,gineeriii,g, Dt)shisha U"iL'ei'sit.y E-nraiL' * tt"rtt@Jnctht)rohct.tte,ip, ** f r.yoA'qgau' , k'