TY - GEN
T1 - Variable mechanical stiffness control based on human stiffness estimation
AU - Mitsantisuk, Chowarit
AU - Ohishi, Kiyoshi
AU - Katsura, Seiichiro
PY - 2011/9/2
Y1 - 2011/9/2
N2 - 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.
AB - 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.
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U2 - 10.1109/ICMECH.2011.5971211
DO - 10.1109/ICMECH.2011.5971211
M3 - Conference contribution
AN - SCOPUS:80052165961
SN - 9781612849836
T3 - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
SP - 731
EP - 736
BT - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
T2 - 2011 IEEE International Conference on Mechatronics, ICM 2011
Y2 - 13 April 2011 through 15 April 2011
ER -