Stable and Intuitive Control of an Intelligent Assist Device

PROJECT TITLE :

Stable and Intuitive Control of an Intelligent Assist Device

ABSTRACT :

Safety and dependability are of the utmost importance for physical human-robot interaction thanks to the potential risks that a comparatively powerful robot poses to kinsfolk. From the control standpoint, it's doable to boost safety by guaranteeing that the robot can never exhibit any unstable behavior. But, stability isn't the sole concern in the planning of a controller for such a robot. During human-robot interaction, the ensuing cooperative motion should be really intuitive and should not prohibit in any means the human performance. For this purpose, we tend to have designed a replacement variable admittance management law that guarantees the stability of the robot during constrained motion and conjointly provides a terribly intuitive human interaction. The former characteristic is provided by the look of a stability observer whereas the latter is predicated on a variable admittance control scheme that uses the time by-product of the contact force to assess human intentions. The soundness observer is based on a previously published stability investigation of cooperative motion that implies the data of the interaction stiffness. A technique to accurately estimate this stiffness online using the information coming back from the encoder and from a multiaxis force sensor at the tip effector is also provided. The stability and intuitivity of the management law are verified in an exceedingly user study involving a cooperative drawing task with a 3 degree-of-freedom (dof) parallel robot along with in experiments performed with a prototype of an industrial Intelligent Assist Device.

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