Enhanced Transparency for Physical Human-Robot Interaction Using Human Hand Impedance Compensation

In a physical human-robot interaction (pHRi) system, improving transparency that allows humans to move as if there is no robot is a challenging topic. In general pHRi, usage of the multiaxial force sensor for robot control is the norm. However, the signal measured from the force sensor contains not...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2018-12, Vol.23 (6), p.2662-2670
Main Authors: Lee, Kyeong Ha, Baek, Seung Guk, Lee, Hyuk Jin, Choi, Hyouk Ryeol, Moon, Hyungpil, Koo, Ja Choon
Format: Article
Language:English
Subjects:
Algorithms
Dynamics
Electrical impedance
Exoskeleton
Exoskeletons
Feedback
Force feedback
Force sensors
Human engineering
Human motion
Humanoid robots
Hybrid power systems
Hydraulic upper-limb exoskeleton
Impedance
impedance compensator (IC)
Order parameters
physical human-robot interaction (pHRi)
Robot control
Robot dynamics
Robot sensing systems
Robots
Sensors
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Summary:In a physical human-robot interaction (pHRi) system, improving transparency that allows humans to move as if there is no robot is a challenging topic. In general pHRi, usage of the multiaxial force sensor for robot control is the norm. However, the signal measured from the force sensor contains not only the force applied to the robot by the human motion intention but also the influence of the natural force feedback between the robot and the human hand produced by the robot motion. Therefore, in order to improve the transparency, it is necessary to characterize the dynamics of the human hand as well as the dynamics of the robot. In this paper, an algorithm to improve the transparency is proposed. The proposed algorithm uses only a multiaxial force sensor and compensates the natural force feedback by using the human hand impedance. And it further improves the transparency of the pHRi system, which has a limitation adjusting admittance parameters. In order to verify the algorithm, a device that can measure the impedance of the human hand is introduced, and a system model analysis and experiments using the hydraulic upper limb exoskeleton are carried out.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2018.2875690