Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators*

2019 ◽  
Author(s):  
Jiajun Xu ◽  
Linsen Xu ◽  
Jinfu Liu ◽  
Shouqi Chen ◽  
Chanchan Xu ◽  
...  
Keyword(s):  
Lower Extremity ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Robotic Exoskeleton ◽  
Interaction Control

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.

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
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