Estimation of Upper-Limb Energy Absorption Capabilities for Stable Human-Robot Interactions

被引:0
作者
Ramos, Andres [1 ]
Hashtrudi-Zaad, Keyvan [1 ]
机构
[1] Queens Univ, Dept Elect & Comp Engn, Kingston, ON K7L 3N6, Canada
来源
2020 IEEE HAPTICS SYMPOSIUM (HAPTICS) | 2020年
基金
加拿大自然科学与工程研究理事会;
关键词
Control systems; excess of passivity; haptic interfaces; human-robot interaction; rehabilitation robotics; stability; teleoperation; upper-limb; variability; PASSIVITY; HAPTICS; SYSTEMS;
D O I
10.1109/haptics45997.2020.ras.hap20.20.95bee409
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
Human-robot interactions are becoming more and more prevalent in various aspects of life, enhancing humans' mobility, accessibility and health. However, safety measures need to be addressed when applying robotic-generated forces that put human users at risk. One way to improve safety and performance in robotic tasks is to include physiological information, such as damping properties of the arm, in the control system to help regulate the energy that is delivered to the user. In this work, we estimated the energy absorbing capabilities of the human arm, based on the metric Excess of Passivity (EOP), originally defined in [1]. We used data from healthy subjects to generate models that fit different levels of safety and stability. Variability in subjects' EOP was a major finding in this study. For demanding applications such as robotic rehabilitation therapy, we suggest using a linear model with two EOP points. Such points are the mean values of EOP estimations at relaxed and rigid levels of hand-grasp forces. Two standard deviations were subtracted from each EOP point to consider the variability due to the neuromuscular changes in the human arm.
引用
收藏
页码:115 / 120
页数:6
相关论文
共 15 条
  • [1] A grasp-based passivity signature for haptics-enabled human-robot interaction: Application to design of a new safety mechanism for robotic rehabilitation
    Atashzar, Seyed Farokh
    Shahbazi, Mahya
    Tavakoli, Mahdi
    Patel, Rajni V.
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2017, 36 (5-7) : 778 - 799
  • [2] A Passivity-Based Approach for Stable Patient-Robot Interaction in Haptics-Enabled Rehabilitation Systems: Modulated Time-Domain Passivity Control
    Atashzar, Seyed Farokh
    Shahbazi, Mahya
    Tavakoli, Mahdi
    Patel, Rajni V.
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2017, 25 (03) : 991 - 1006
  • [3] Stability and motor adaptation in human arm movements
    Burdet, E
    Tee, KP
    Mareels, I
    Milner, TE
    Chew, CM
    Franklin, DW
    Osu, R
    Kawato, M
    [J]. BIOLOGICAL CYBERNETICS, 2006, 94 (01) : 20 - 32
  • [4] Cleveland D. M., 2017, THESIS QUEENS U
  • [5] Coles TR, 2011, IEEE T HAPTICS, V4, P51, DOI [10.1109/TOH.2010.19, 10.1109/ToH.2010.19]
  • [6] ROBUST IMPEDANCE SHAPING TELEMANIPULATION
    COLGATE, JE
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (04): : 374 - 384
  • [7] Colgate JE, 1997, J ROBOTIC SYST, V14, P37, DOI 10.1002/(SICI)1097-4563(199701)14:1<37::AID-ROB4>3.0.CO
  • [8] 2-V
  • [9] Validation of a robot serious game assessment protocol for upper limb motor impairment in children with cerebral palsy
    Dehem, Stephanie
    Montedoro, Vincenza
    Brouwers, Isaline
    Edwards, Martin Gareth
    Detrembleur, Christine
    Stoquart, Gaetan
    Renders, Anne
    Heins, Sophie
    Dehez, Bruno
    Lejeune, Thierry
    [J]. NEUROREHABILITATION, 2019, 45 (02) : 137 - 149
  • [10] Dyck M, 2013, 2013 WORLD HAPTICS CONFERENCE (WHC), P683, DOI 10.1109/WHC.2013.6548491