Variable Damping Control for pHRI: Considering Stability, Agility, and Human Effort in Controlling Human Interactive Robots
IEEE Transactions on Human-Machine Systems(2021)
Abstract
This article presents a multi-degree-of-freedom variable damping controller to manage the trade-off between stability and agility and to reduce user effort in physical human-robot interaction. The controller accounts for the human body's inherent impedance properties and applies a range of robotic damping from negative (energy injection) to positive (energy dissipation) values based on the user's ...
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Key words
Damping,Robots,Task analysis,Tuning,Impedance,Extremities,Stability criteria
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