Adaptive Human–Robot Interaction Control for Robots Driven by Series Elastic Actuators

2017 ◽  
Vol 33 (1) ◽  
pp. 169-182 ◽  
Author(s):  
Xiang Li ◽  
Yongping Pan ◽  
Gong Chen ◽  
Haoyong Yu
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Interaction Control ◽  
Series Elastic Actuators ◽  
Series Elastic

Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators

2015 ◽  
Vol 31 (5) ◽  
pp. 1089-1100 ◽  
Author(s):  
Haoyong Yu ◽  
Sunan Huang ◽  
Gong Chen ◽  
Yongping Pan ◽  
Zhao Guo
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Interaction Control ◽  
Rehabilitation Robots ◽  
Series Elastic Actuators ◽  
Series Elastic

Human-adaptive control of series elastic actuators

Robotica ◽  
2014 ◽  
Vol 32 (8) ◽  
pp. 1301-1316 ◽  
Author(s):  
Andrea Calanca ◽  
Paolo Fiorini
Keyword(s):  
Adaptive Control ◽  
Adaptive Algorithms ◽  
Rehabilitation Robotics ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Human Dynamics ◽  
Human In The Loop ◽  
Control Response ◽  
Series Elastic Actuators ◽  
Series Elastic

SUMMARYForce-controlled series elastic actuators (SEAs) are the widely used components of novel physical human–robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based controller. Unfortunately, existing passivity-based controllers for SEAs do not define the performance of the force/torque loop. We propose a method to obtain predictable force/torque dynamics based on adaptive control and oversimplified human models. We propose a class of stable human-adaptive algorithms and experimentally show advantages of the proposed approach.

scholarly journals Complementary Stability of Markovian Systems: Series Elastic Actuators and Human-Robot Interaction

2021 ◽  
Vol 54 (4) ◽  
pp. 112-117
Author(s):  
Andres L. Jutinico ◽  
Oscar Flórez-cediel ◽  
Adriano A.G. Siqueira
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Markovian Systems ◽  
Series Elastic Actuators ◽  
Series Elastic

scholarly journals A variable admittance control strategy for stable physical human–robot interaction

2019 ◽  
Vol 38 (6) ◽  
pp. 747-765 ◽  
Author(s):  
Federica Ferraguti ◽  
Chiara Talignani Landi ◽  
Lorenzo Sabattini ◽  
Marcello Bonfè ◽  
Cesare Fantuzzi ◽  
...  
Keyword(s):  
Human Robot Interaction ◽  
Admittance Control ◽  
Robot Interaction ◽  
Interaction Control ◽  
Human Arm ◽  
Industrial Operations ◽  
Novel Method ◽  
The Stability ◽  
Stability Issues ◽  
Human Robot Collaboration

Admittance control allows a desired dynamic behavior to be reproduced on a non-backdrivable manipulator and it has been widely used for interaction control and, in particular, for human–robot collaboration. Nevertheless, stability problems arise when the environment (e.g. the human) the robot is interacting with becomes too stiff. In this paper, we investigate the stability issues related to a change of stiffness of the human arm during the interaction with an admittance-controlled robot. We propose a novel method for detecting the rise of instability and a passivity-preserving strategy for restoring a stable behavior. The results of the paper are validated on two robotic setups and with 50 users performing two tasks that emulate industrial operations.

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