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Human-robot cooperative control based on pHRI (Physical Human-Robot Interaction) of exoskeleton robot for a human upper extremity

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Abstract

This paper proposes a human-robot cooperative control of exoskeleton robot assisting muscle strength of a human upper extremity when lifting or transporting heavy objects. When a human wears a robot, the motions of the human and robot generate interaction, which is called HRI (Human-Robot Interaction). To generate reference motion from the interaction force, a pHRI model was developed using virtual mechanical impedance, and an experimental method to determine the impedance parameters of the pHRI model was proposed. The controller was developed in such a way that the desired motion will be controlled using dynamic model-based compensation. To verify the proposed control method, it was applied to an exoskeleton robot with 6-DOF for both arms. Motion-following-performance experiment and muscle-strength-assisting-effect experiment were conducted using this robot. Experimental results, the wearer of the exoskeleton robot can handle a small force was the heavy object.

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Abbreviations

F HR :

human-robot interaction force

ω HR n :

natural frequency of the pHRI model

ω H n :

natural frequency of a human arm

ζ HR :

damping ratio of the pHRI model

ζ H :

damping ratio of a human arm

M H p :

% overshoot of a human arm

t H r :

rising time of a human arm

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Authors and Affiliations

  1. Dept. of Mechanical Engineering, Hanyang University, 1271, Sa-dong, Sangrok-gu, Ansan-si, Gyeonggi-do, Republic of Korea, 426-791

    Heedon Lee, Byeongkyu Lee, Wansoo Kim & Changsoo Han

  2. Dept. of Mechatronics Engineering, Hanyang University, 1271, Sa-dong, Sangrok-gu, Ansan-si, Gyeonggi-do, Republic of Korea, 426-791

    Myeongsoo Gil

  3. Dept. of Mechanical System Engineering, Hansung University, 389, Samseon-dong 2-ga, Seongbuk-gu, Seoul, Republic of Korea, 136-792

    Jungsoo Han

Authors
  1. Heedon Lee
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  2. Byeongkyu Lee
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  3. Wansoo Kim
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  4. Myeongsoo Gil
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  5. Jungsoo Han
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  6. Changsoo Han
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Correspondence to Changsoo Han.

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Lee, H., Lee, B., Kim, W. et al. Human-robot cooperative control based on pHRI (Physical Human-Robot Interaction) of exoskeleton robot for a human upper extremity. Int. J. Precis. Eng. Manuf. 13, 985–992 (2012). https://doi.org/10.1007/s12541-012-0128-x

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  • DOI: https://doi.org/10.1007/s12541-012-0128-x

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