Variable impedance control of a robot for cooperation with a human

Ikeura, Ryojun; Inooka, Hikaru

doi:10.1109/robot.1995.525725

Cited by 273 publications

(180 citation statements)

References 8 publications

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“…The damping factor of the impedance controller was changed with respect to a threshold, based on the speed of manipulation by direct switching [19], by time dependent functions [20] or by linear variation [21]. Conversely, robot impedance has been changed in response to the force applied by the user at the guidance contact point [8,22,23].…”

Section: Related Workmentioning

confidence: 99%

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Beretta

Momi

Baena

et al. 2015

International Journal of Advanced Robotic Systems

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Cooperatively controlled robotic assistants can be used in surgery for the repetitive execution of targeting/ reaching tasks, which require smooth motions and accurate placement of a tool inside a working area. A variable damping controller, based on a priori knowledge of the location of the surgical site, is proposed to enhance the physical human-robot interaction experience. The performance of this and of typical constant damping controllers is comparatively assessed using a redundant light-weight robot. Results show that it combines the positive features of both null (acceleration capabilities > 0.8m/s 2 ) and optimal (mean pointing error < 1.5mm) constant damping controllers, coupled with smooth and intuitive convergence to the target (direction changes reduced by 30%), which ensures that assisted tool trajectories feel natural to the user. An application scenario is proposed for brain cortex stimulation procedures, where the surgeon's intentions of motion are explicitly defined intra-operatively through an imageguided navigational system.

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Section: Related Workmentioning

confidence: 99%

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Beretta

Momi

Baena

et al. 2015

International Journal of Advanced Robotic Systems

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“…Those studies can be classified into two types according to whether the human impedance property is constant during operation [9], [11], [13], or variable [10], [12], [14]. No detailed discussion has addressed how a machine adapts its dynamics for human impedance properties that would widely change depending on human posture and muscle activations during operations.…”

Section: Introductionmentioning

confidence: 99%

Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System

Tanaka

Onishi

Tsuji

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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Abstract-A human can control dynamic properties of his/her own body naturally and effectively according to tasks by utilizing the perceived information of environmental characteristics. If dynamic properties of human movements depending on environmental characteristics can be described quantitatively, there would be expected to design and develop a novel humanmachine system in which an operator can manipulate more comfortably. This paper discusses a design methodology of human-machine systems integrating human motor characteristics. A vehicle interface system manipulated by the foot is focused on, and mechanical impedance properties of human lower extremities during maintained leg posture are investigated according to the leg posture and the foot force.

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“…The basic concept is that the robot impedance properties are designed to ensure the stability of the whole system and the maneuverability for a human operator with consideration of human impedance. For example, Ikeura et al [9] proposed a variable-impedance control method that switches the robot's impedance properties during a task. They also supposed that the maneuverability of a human-machine system could be improved by installing human impedance, which measured in the target task with two human operators, into the impedance-controlled robot.…”

Section: Introductionmentioning

confidence: 99%

Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

Tanaka

Yamada

Nishikawa

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper focuses on a shift operation system of an automobile as an example of human-machine systems, and develops a virtual shift system using a variable-impedance controlled robot that can provide various types of shift dynamics. A series of operational experiments is carried out with different viscoelastic patterns installed in the virtual shift system by changing the relative position between the shift lever and the operator. Then, the relationship between operational feeling and human arm movements is investigated by using the force manipulability considering human joint-torque characteristics.

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Variable impedance control of a robot for cooperation with a human

Cited by 273 publications

References 8 publications

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System

Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

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