The stability investigation of variable viscosity control in the human-robot interaction.
The international journal of medical robotics + computer assisted surgery : MRCAS(2022)
Abstract
BACKGROUND:For many co-manipulative applications, variable damping is a valuable feature provided by robots. One approach is implementing a high viscosity at low velocities and a low viscosity at high velocities. This, however, is proven to have the possibility to alter human natural motion performance.
METHODS:We show that the distortion is caused by the viscosity drop resulting in robot's resistance to motion. To address this, a method for stably achieving the desired behaviour is presented. It involves leveraging a first-order linear filter to slow the viscosity variation down.
RESULTS:The proposition is supported by a theoretical analysis using a robotic model. Meanwhile, the user performance in human-robot experiments gets significantly improved, showing the practical efficiency in real applications.
CONCLUSIONS:This paper discusses the variable viscosity control in the context of co-manipulation. An instability problem and its solution were theoretically shown and experimentally evidenced through human-robot experiments.
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Key words
co-manipulation,HRI,human-robot interaction,impedance control,stability,viscosity control
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