Interaction Control for Rehabilitation Robotics via a Low-Cost Force Sensing Handle

2013 ◽  
Author(s):  
Andrew Erwin ◽  
Fabrizio Sergi ◽  
Vinay Chawda ◽  
Marcia K. O’Malley
Keyword(s):  
Grip Force ◽  
Force Feedback ◽  
Low Cost ◽  
Interaction Force ◽  
Rehabilitation Robotics ◽  
Haptic Interface ◽  
Force Sensing ◽  
Improve Performance ◽  
Feedback Controllers ◽  
Interaction Control

This paper investigates the possibility of implementing force-feedback controllers using measurement of interaction force obtained through force-sensing resistors (FSRs), to improve performance of human interacting robots. A custom sensorized handle was developed, with the capability of simultaneously measuring grip force and interaction force during robot-aided rehabilitation therapy. Experiments are performed in order to assess the suitability of FSRs to implement force-feedback interaction controllers. In the force-feedback control condition, the applied force for constant speed motion of a linear 1DOF haptic interface is reduced 6.1 times compared to the uncontrolled condition, thus demonstrating the possibility of improving transparency through force-feedback via FSRs.

Force-feedback joystick as a low-cost haptic interface for an atomic-force-microscopy nanomanipulator

2003 ◽  
Vol 76 (6) ◽  
pp. 903-906 ◽  
Author(s):  
F.J. Rubio-Sierra ◽  
R.W. Stark ◽  
S. Thalhammer ◽  
W.M. Heckl
Keyword(s):  
Atomic Force Microscopy ◽  
Force Feedback ◽  
Low Cost ◽  
Haptic Interface ◽  
Force Microscopy ◽  
Atomic Force

Vision Based Force Sensing for Nanorobotic Manipulation

2006 ◽  
Author(s):  
Abhishek Gupta ◽  
Volkan Patoglu ◽  
Marcia K. O'Malley
Keyword(s):  
Visual Feedback ◽  
Force Feedback ◽  
Low Cost ◽  
Primary Component ◽  
Force Sensing ◽  
End Effector ◽  
Nanoscale Structures ◽  
Force Microscopy ◽  
Mechanics Model ◽  
Primary Advantage

Over the last decade, considerable interest has been generated in building and manipulating nanoscale structures. Applications of nanomanipulation include study of nanoparticles, molecules, DNA and viruses, and bottom-up nanoassembly. We propose a Nanomanipulation System using the Zyvex S100 nanomanipulator, which operates within a scanning electron microscope (SEM), as its primary component. The primary advantage of the S100 setup over standard scanning probe microscopy based nanomanipulators is the ability to see the object during manipulation. Relying on visual feedback alone to control the nanomanipulator is not preferable due to perceptual limitations of depth and contact within the SEM. To improve operator performance over visual feedback alone, an impedance-controlled bilateral teleoperation setup is envisioned. Lack of on-board force sensors on the S100 system is the primary hindrance in the realization of the proposed architecture. In this paper, we present a computer vision based force sensing scheme. The advantages of this sensing strategy include its low cost and lack of requirement of hardware modification(s). Force sensing is implemented using an atomic force microscopy (AFM) probe attached to the S100 end-effector. Deformation of the cantilever probe is monitored using a Hough transform based algorithm. These deformations are mapped to corresponding end-effector forces following the Euler-Bernoulli beam mechanics model. The forces thus sensed can be used to provide force-feedback to the operator through a master manipulator.

scholarly journals Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

2021 ◽  
Author(s):  
Loris Roveda ◽  
Dario Piga
Keyword(s):  
Impedance Control ◽  
Interaction Force ◽  
Industrial Robots ◽  
Force Estimation ◽  
Interaction Control ◽  
Stiffness Properties ◽  
Implementation Effort ◽  
Coupling Dynamics ◽  
And Control ◽  
Assembly Tasks

AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.

Modeling and Impedance Control of a Two-Manipulator System Handling a Flexible Beam

1997 ◽  
Vol 119 (4) ◽  
pp. 736-742 ◽  
Author(s):  
Dong Sun ◽  
Yunhui Liu
Keyword(s):  
Asymptotic Stability ◽  
Force Feedback ◽  
Impedance Control ◽  
Interaction Force ◽  
Flexible Beam ◽  
New Approach ◽  
Vibration Dynamics ◽  
Lasalle Theorem ◽  
Internal Forces ◽  
Proper Response

This paper presents a new approach of transporting a flexible beam handled by two manipulators to a desired position/orientation while suppressing its vibration, and simultaneously controlling the internal forces between the manipulators and the beam to avoid any damage on the system. The algorithm combines impedance control and an I-type force feedback into one scheme by designing a proper response of the interaction force. No information about the vibration is used in the controller. The asymptotic stability is investigated by using LaSalle theorem, based on the vibration dynamics of the beam approximated by m assumed modes (m → ∞ ). Simulations demonstrate the validity of the proposed method.

Foot-Based 6-DOF Haptic Interface with Force Feedback Capability for Third Arm Manipulation

2021 ◽  
Author(s):  
Seigo Okada ◽  
Yasunao Okazaki ◽  
Yusuke Kato ◽  
Jun Ozawa ◽  
Takeshi Ando
Keyword(s):  
Force Feedback ◽  
Haptic Interface

Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics

2019 ◽  
Vol 4 (2) ◽  
pp. 1156-1161 ◽  
Author(s):  
Gijo Sebastian ◽  
Zeyu Li ◽  
Vincent Crocher ◽  
Demy Kremers ◽  
Ying Tan ◽  
...  
Keyword(s):  
Interaction Force ◽  
Rehabilitation Robotics ◽  
Extended State ◽  
Force Estimation ◽  
State Observers

Design and Modeling of an Electro-Rheological Fluid Based Haptic Interface

2000 ◽  
Author(s):  
C. Mavroidis ◽  
C. Pfeiffer ◽  
J. Celestino ◽  
Y. Bar-Cohen
Keyword(s):  
Analytical Modeling ◽  
Force Feedback ◽  
Haptic Interface ◽  
Dexterous Manipulation ◽  
End Effector ◽  
Jet Propulsion ◽  
Field Robots ◽  
Rutgers University ◽  
Modeling And Experiments ◽  
Human Operators

Abstract In this project, Rutgers University has teamed with the Jet Propulsion Laboratory (JPL) to pursue the development and demonstration of a novel haptic interfacing capability called MEMICA (remote MEchanical MIrroring using Controlled stiffness and Actuators). MEMICA is intended to provide human operators intuitive and interactive feeling of the stiffness and forces at remote or virtual sites in support of space, medical, underwater, virtual reality, military and field robots performing dexterous manipulation operations. The key aspect of the MEMICA system is a miniature Electrically Controlled Stiffness (ECS) element that mirrors the stiffness at remote/virtual sites. The ECS elements make use of Electro-Rheological Fluid (ERF), which is an Electro-Active Polymer (EAP), to achieve this feeling of stiffness. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user by this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. This paper describes the analytical modeling and experiments that are currently underway to develop an ERF based force feedback element.

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