Virtual Driving Simulator for Measuring Dynamic Properties of Human Arm Movements

2006 ◽  
Vol 18 (2) ◽  
pp. 177-185 ◽  
Author(s):  
Yoshiyuki Tanaka ◽  
◽  
Ryoma Kanda ◽  
Naoki Yamada ◽  
Hitoshi Fukuba ◽  
...  
Keyword(s):  
Driving Simulator ◽  
Impedance Control ◽  
Dynamic Properties ◽  
Mechanical Impedance ◽  
Rotational Axis ◽  
Human Movements ◽  
Human Arm ◽  
Robotic Devices ◽  
Impedance Parameters ◽  
Machine Systems

This paper presents a virtual driving simulator using robotic devices as an example of human-machine systems to investigate dynamic properties of human movements in the operation of drive interfaces, such as steering wheels and transmission shifters. The simulator has virtual steering and transmission systems under variable impedance control, providing the operators with realistic operational response. Mechanical impedance parameters around the steering rotational axis were measured to demonstrate the effectiveness of the developed simulator.

Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor

2012 ◽  
Vol 268-270 ◽  
pp. 1531-1537
Author(s):  
Xiao Xing Dong ◽  
Ge Li ◽  
Geng Feng Liu ◽  
Jie Zhao
Keyword(s):  
Force Feedback ◽  
Impedance Control ◽  
Dynamic Properties ◽  
Contact Forces ◽  
Robotic Arm ◽  
Torque Sensor ◽  
Redundant Manipulator ◽  
Control Effect ◽  
Impedance Parameters ◽  
Kinematic Solution

A Cartesian impedance control for a 7-DOF space robotic arm (SRA) based on the feedback from a 6-dimensional force/torque sensor on its end effecter is presented in this paper. The unavoidable position error of SRA would generate large contact forces during the connection between SRA’s end effecter (EE) and grapple fixture (GF). To control the contact force we used 6D force feedback to modify the desired trajectory controlling a PID position inner loop to make the manipulator exert desired impedance dynamic properties on its end-effecter. After optimization of impedance parameters in Simulink, this control strategy has significantly improved the force control effect in EE/GF connection experiment. Kinematic solution of the 7-DOF redundant manipulator is also provided.

Development of Mechanical-Impedance-Varying Mechanism in Admittance Control

2018 ◽  
Vol 30 (6) ◽  
pp. 863-872
Author(s):  
Toru Tsumugiwa ◽  
◽  
Miho Yura ◽  
Atsushi Kamiyoshi ◽  
Ryuichi Yokogawa
Keyword(s):  
Motion Control ◽  
Control Strategy ◽  
Impedance Control ◽  
Mechanical Impedance ◽  
Force Sensor ◽  
Robot Motion ◽  
Admittance Control ◽  
Input Force ◽  
Mechanical Variable ◽  
Impedance Parameters

There have been numerous studies on the physical human-robot cooperative task system with impedance/admittance control in robot motion control. However, the problem of stability persists, wherein the control system becomes unstable when the robot comes into contact with a highly stiff environment. A variable impedance control strategy was proposed to circumvent this stability problem. However, a number of studies on variable impedance control are based on the variation of a parameter in the robot motion control software, and a mechanical variable impedance control has not been proposed. The purpose of this research is to propose a mechanical variable impedance control strategy using a mechanical device based on the lever principle. The proposed mechanism can adjust the magnitude of the input force to the force sensor by changing the position of application of the operating force on the beam. Adjusting the magnitude of the input force to the force sensor is equivalent to varying the impedance parameters of the robot; therefore, it is feasible to achieve mechanical variable impedance control using the proposed mechanism. In this study, the gain adjustment characteristics of the proposed mechanism were evaluated. The experimental results demonstrated that the operator can vary the impedance parameters of the robot by mechanically adjusting the input force to the force sensor and operating the robot using the proposed mechanism.

scholarly journals Simulations and experimental evaluation of an active orthosis for interaction in virtual environments

2018 ◽  
Vol 145 ◽  
pp. 01006
Author(s):  
Mihail Tsveov ◽  
Pavel Venev ◽  
Dimitar Chakarov ◽  
Ivanka Veneva
Keyword(s):  
Virtual Environments ◽  
Impedance Control ◽  
Computer Experiments ◽  
Open Loop ◽  
Body Parts ◽  
Human Arm ◽  
Control Scheme ◽  
Force Reflection ◽  
Physical Quantities ◽  
Active Orthosis

In this work, the development of a human arm active orthosis is presented. The orthosis is designed primarily for training and rehabilitation in virtual environments.The orthosis system is intended for embodiment in virtual reality where it is allowing human to perceive forces at different body parts or the weight of lifted objects. In the paper the choice of a mechanical structure is shown equivalent to the structure of the human arm. A mechanical model of the orthosis arm as haptic device is built, where kinematic and dynamic parameters are evaluated. Impedance control scheme is selected as the most suitable for force refection at the hand or arm. An open-loop impedance controller is presented in the paper. Computer experiments are carried out using the dimensions of a real arm orthosis. Computer experiments have been carried out to provide force reflection by VR, according to virtual scenario. The conducted simulations show the range of the forces on the operator hand, orthosis can provide. The results of additional measurements and experimental evaluations of physical quantities in the interaction in a virtual environment are revealed in the paper.

scholarly journals Controlling of a ROS-based robotic system in accordance to the assist-as-needed principle in end-effector based rehabilitation systems

2018 ◽  
Vol 4 (1) ◽  
pp. 199-202
Author(s):  
Sebastian Becker ◽  
Wiebke Hinterlang ◽  
Tim Eschert ◽  
Catherine Disselhorst-Klug
Keyword(s):  
Impedance Control ◽  
Proximal Part ◽  
The Elderly ◽  
Subjective Assessment ◽  
Robot Kinematics ◽  
Robotic Rehabilitation ◽  
End Effector ◽  
3 Dimensional ◽  
The Central Nervous System ◽  
Robotic Devices

AbstractStroke is one of the most frequent diseases among the elderly and often leads to an ongoing failure of functions in the central nervous system. Due to the plasticity of the brain affected may regain lost motor function by repetitive training. Robotic devices can be an approach to accelerate the rehabilitation process by maximizing patients’ training intensity. End-effector based robotic systems are particularly suitable for this purpose and often an advantage over exoskeletons since the proximal part of the upper limb remains under the control of the patient. Furthermore, the integration of the assistas- needed principle (AAN) into these devices enables individualized, adaptable robotic support to patients during therapy. In this study an end-effector based robotic rehabilitation device based on the Robot Operating System (ROS) framework is introduced. The system allows patients to perform 3- dimensional movements without a therapist’s assistance. With regard to the AAN, focus was based on impedance control and an additional real-time adaption of the impedance control parameters by using a feedback loop. 10 healthy subjects took part in this study to evaluate the overall concept with regard to usability and quality of the supported movement. Hence, the three most promising adaption models of AAN (without adaption, adaption according to position and time, adaption according to velocity) under three different levels of movement support (0%, 50%, 100%) were investigated by administering a self-designed questionnaire and the robot kinematics. The results showed no significant differences between the three different adaption models of AAN. However, the subjective assessment of the movements was in keeping with robot kinematics and the control approaches as well as the overall system have experienced remarkable support.

A Human Arm’s Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering

Robotica ◽  
2020 ◽  
pp. 1-13
Author(s):  
Xiong Lu ◽  
Beibei Qi ◽  
Hao Zhao ◽  
Junbin Sun
Keyword(s):  
Degrees Of Freedom ◽  
External Disturbance ◽  
Mechanical Impedance ◽  
System Stability ◽  
Tuning Method ◽  
Rigid Objects ◽  
Human Arm ◽  
Human Operators ◽  
And Performance ◽  
The Stability

SUMMARY Rendering of rigid objects with high stiffness while guaranteeing system stability remains a major and challenging issue in haptics. Being a part of the haptic system, the behavior of human operators, represented as the mechanical impedance of arm, has an inevitable influence on system performance. This paper first verified that the human arm impedance can unconsciously be modified through imposing background forces and resist unstable motions arising from external disturbance forces. Then, a reliable impedance tuning (IT) method for improving the stability and performance of haptic systems is proposed, which tunes human arm impedance by superimposing a position-based background force over the traditional haptic workspace. Moreover, an adaptive IT algorithm, adjusting the maximum background force based on the velocity of the human arm, is proposed to achieve a reasonable trade-off between system stability and transparency. Based on a three-degrees-of-freedom haptic device, maximum achievable stiffness and transparency grading experiments are carried out with 12 subjects, which verify the efficacy and advantage of the proposed method.

Regulation of 3D Human Arm Impedance Through Muscle Co-Contraction

2013 ◽  
Author(s):  
Harshil Patel ◽  
Gerald O’Neill ◽  
Panagiotis Artemiadis
Keyword(s):  
Dimensional Space ◽  
Human Subjects ◽  
Three Dimensional ◽  
Mechanical Impedance ◽  
Dominant Factor ◽  
Robot Arm ◽  
End Point ◽  
Human Arm ◽  
Arm Muscles ◽  
Experimental Trials

Humans have the inherent ability of performing highly dexterous and skillful tasks with their arms, involving maintenance of posture, movement, and interaction with the environment. The latter requires the human to control the dynamic characteristics of the upper limb musculoskeletal system. These characteristics are quantitatively represented by inertia, damping, and stiffness, which are measures of mechanical impedance. Many previous studies have shown that arm posture is a dominant factor in determining the end point impedance on a horizontal (transverse) plane. This paper presents the characterization of the end point impedance of the human arm in three-dimensional space. Moreover, it models the regulation of the arm impedance with respect to various levels of muscle co-contraction. The characterization is made by route of experimental trials where human subjects maintained arm posture while their arms were perturbed by a robot arm. Furthermore, the subjects were asked to control the level of their arm muscles’ co-contraction, using visual feedback of their muscles’ activation, in order to investigate the effect of this muscle co-contraction on the arm impedance. The results of this study show a very interesting, anisotropic increase of arm stiffness due to muscle co-contraction. These results could lead to very useful conclusions about the human’s arm biomechanics, as well as many implications for human motor control-specifically the control of arm impedance through muscle co-contraction.

Analysis of the Dynamic Properties of the Mechatronic Integrator of Control Procedures of the Vehicle Driven by Persons with Disabilities

2015 ◽  
Vol 220-221 ◽  
pp. 3-8 ◽  
Author(s):  
Wacław Banaś ◽  
Aleksander Gwiazda ◽  
Krzysztof Herbuś ◽  
Gabriel Kost ◽  
Piotr Ociepka ◽  
...  
Keyword(s):  
Control System ◽  
Facial Expressions ◽  
Driving Simulator ◽  
Dynamic Properties ◽  
Slow Motion ◽  
Loss Of Consciousness ◽  
Persons With Disabilities ◽  
The Face ◽  
Control Procedures ◽  
High Standards

The simulator of behavior of a disabled person driving the car is especially useful equipment. Mainly, the hands and the face of a driver are observed in order to determine facial expressions, slow-motion of the head and eyes, which according to the description of the simulation indicate disturbances of concentration and, in extreme cases may lead to nausea, or even loss of consciousness [1]. So, in the realization phase of the configuration the control system, the need to maintain high standards of safety was taken into consideration. The main problem described in the paper was measuring the acceleration and frequency of vibration during the operation of the simulator [2, 3, 4]. This analysis will help to determine whether any particular circumstances during crash simulations do not exceed the acceleration limit while the driver still feels its effects. It is also important to examine the frequency of vibrations, which during long driving simulator can cause nausea, dizziness or loss of consciousness. This analysis is a part of widely applied CAx analysis performed using special computer platforms that should be properly organized [5] and helps to expand the range of investigations [6].

Iterative Learning Impedance Control in Gait Rehabilitation Robot

2014 ◽  
Vol 494-495 ◽  
pp. 1084-1087
Author(s):  
Fu Cheng Cao ◽  
Hai Xin Sun ◽  
Li Rong Wang
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Impedance Control ◽  
Iterative Learning ◽  
Gait Rehabilitation ◽  
Control Law ◽  
Rehabilitation Robot ◽  
Simulation Results ◽  
Impedance Parameters

An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

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