Compliant Motion Control for Safe Human Robot Interaction

Robot Motion and Control 2009 - Lecture Notes in Control and Information Sciences ◽

10.1007/978-1-84882-985-5_24 ◽

2009 ◽

pp. 265-274 ◽

Cited By ~ 1

Author(s):

Rehan M. Ahmed ◽

Anani V. Ananiev ◽

Ivan G. Kalaykov

Keyword(s):

Motion Control ◽

Human Robot Interaction ◽

Robot Interaction ◽

Compliant Motion

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Guiding human motions in physical human-robot interaction through COM motion control of a dance teaching robot

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) ◽

10.1109/humanoids.2016.7803289 ◽

2016 ◽

Cited By ~ 5

Author(s):

Diego Felipe Paez Granados ◽

Jun Kinugawa ◽

Yasuhisa Hirata ◽

Kazuhiro Kosuge

Keyword(s):

Motion Control ◽

Human Robot Interaction ◽

Robot Interaction ◽

Human Motions

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Fuzzy-based adaptive motion control of a virtual iCub robot in human-robot-interaction

2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) ◽

10.1109/fuzz-ieee.2014.6891886 ◽

2014 ◽

Cited By ~ 3

Author(s):

Zejun Xu ◽

Chenguang Yang ◽

Hongbin Ma ◽

Menyin Fu

Keyword(s):

Motion Control ◽

Human Robot Interaction ◽

Robot Interaction ◽

Adaptive Motion

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Advanced Motion Control for Physical Human-Robot-Interaction

IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society ◽

10.1109/iecon.2018.8591247 ◽

2018 ◽

Keyword(s):

Motion Control ◽

Human Robot Interaction ◽

Robot Interaction

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Stable and Compliant Motion of Physical Human–Robot Interaction Coupled With a Moving Environment Using Variable Admittance and Adaptive Control

IEEE Robotics and Automation Letters ◽

10.1109/lra.2018.2812916 ◽

2018 ◽

Vol 3 (3) ◽

pp. 2493-2500 ◽

Cited By ~ 12

Author(s):

Hsieh-Yu Li ◽

Ishara Paranawithana ◽

Liangjing Yang ◽

Terence Sey Kiat Lim ◽

Shaohui Foong ◽

...

Keyword(s):

Adaptive Control ◽

Human Robot Interaction ◽

Robot Interaction ◽

Compliant Motion

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Evolutionary Motion Control Optimization in Physical Human-Robot Interaction

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros.2018.8593598 ◽

2018 ◽

Cited By ~ 1

Author(s):

Nicholas A. Nadeau ◽

Ilian A. Bonev

Keyword(s):

Motion Control ◽

Human Robot Interaction ◽

Robot Interaction ◽

Control Optimization

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Safe physical human–robot interaction of mobility assistance robots: evaluation index and control

Robotica ◽

10.1017/s0263574710000706 ◽

2010 ◽

Vol 29 (5) ◽

pp. 767-785 ◽

Cited By ~ 4

Author(s):

Aslam Pervez ◽

Jeha Ryu

Keyword(s):

Motion Control ◽

Control Method ◽

Human Robot Interaction ◽

Experimental Results ◽

Evaluation Index ◽

Independent Mobility ◽

Robot Interaction ◽

Assistive Robots ◽

And Control

SUMMARYIndependent mobility is one of the major challenges for elderly. Assistive robots must guarantee user's safety. Existing methods to quantitatively express user's safety are not applicable to mobility assistance robots due to physical attachment. This paper proposes a danger index to estimate user's safety during mobility assistance. The formulation and validation of the index is achieved through extensive subjective and objective experimentation. A motion control method is also introduced that uses the proposed danger index for monitoring user's safety and initiating proper safety actions in case of danger. As an example, experimental results with SpiderBot-II are reported in this paper.

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