Variable mechanical stiffness control based on human stiffness estimation

Chowarit Mitsantisuk, Kiyoshi Ohishi, Seiichiro Katsura

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
ページ731-736
ページ数6
DOI
出版ステータスPublished - 2011 9 2
イベント2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
継続期間: 2011 4 132011 4 15

出版物シリーズ

名前2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
国/地域Turkey
CityIstanbul
Period11/4/1311/4/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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