Variable mechanical stiffness control based on human stiffness estimation

Chowarit Mitsantisuk, Kiyoshi Ohishi, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

Control of the human-robot interaction system presents many challenges, which include the consideration in terms of the properties of human operators, sensor device, and linkage mechanisms of the robot. This paper presents the application of a variable mechanical stiffness control based on a human stiffness estimation. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode, are designed and applied for controlling wire rope tension and interaction force of human. The human stiffness estimation plays a dominant role in achieving this intelligent behavior, and smooth interaction force, by allowing a robot system to adapt the mechanical stiffness of the twin direct-drive motor system. The advantage points of the high mechanical bandwidth and low stiffness transmission are combined together. The experiment results from two separate experiments show that the above strategy was able to regulate the mechanical stiffness of the robot and provide a smooth interaction force.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages731-736
Number of pages6
DOIs
Publication statusPublished - 2011 Sep 2
Event2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
Duration: 2011 Apr 132011 Apr 15

Publication series

Name2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
CountryTurkey
CityIstanbul
Period11/4/1311/4/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Mitsantisuk, C., Ohishi, K., & Katsura, S. (2011). Variable mechanical stiffness control based on human stiffness estimation. In 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings (pp. 731-736). [5971211] (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings). https://doi.org/10.1109/ICMECH.2011.5971211