Experimental Evaluation of Several Strategies for Human Motion Based Transparency Control
Human interactive robots continue to improve human quality of life with their diverse applications. Their field includes, but is not limited to, haptic devices, force feedback tele-manipulation, surgical co-manipulation, medical rehabilitation, and various multi-degree of freedom robotic devices where the human operator and robot are often required to simultaneously execute tasks and collaborate with a specific share of forces/energy. More than tuning mechanical design, the robot control enhancement with a force sensor, is the key for increasing transparency (i.e the capacity for a robot to follow human movements without any human-perceptible resistive forces). With an ideal robot control, the interaction between robot and human would be extremely natural and fluid that the comanipulation of tasks would seem to be achieved with a transparent aid from the robot. For such, the classical force feedback control in certain cases still seems insufficient as is often limited by various factors (noise, bandwidth limitation, stability, sensor cost..etc). Our experiments are focused on evaluating the performance increase in terms of transparency of controller by using human motion predictions. We evaluate several ways to use predictive informations in the control to overcome present transparency limitations during a simple comanipulation pointing task.
KeywordsForce Control Force Sensor Force Feedback Haptic Device Bandwidth Limitation
Unable to display preview. Download preview PDF.
- 1.Robertson, J., Jarrasse, N., Pasqui, V., Roby-Brami, A.: De l’utilisation des robots pour la rééducation: intérêt et perspectives. La Lettre de Médecine Physique et de Réadaptation (2007)Google Scholar
- 2.Colgate, J.E., Brown, J.M.: Factors affecting the z-width of a haptic display. In: IEEE Proceedings of International Conference on Robotics and Automation 1994, May 1994, vol. 4, pp. 3205–3210 (1994)Google Scholar
- 3.Eppinger, S., Seering, W.: Understanding bandwidth limitations in robot force control. In: Proceedings of 1987 IEEE International Conference on Robotics and Automation, March 1987, vol. 4, pp. 904–909 (1987)Google Scholar
- 4.Colgate, J.E., Hogan, N.: An analysis of contact instability in terms of passive physical equivalents. In: Proceedings of IEEE Int Conference on Robotics and Automation, pp. 404–409 (1989)Google Scholar
- 5.Jarrasse, N., Paik, J., Pasqui, V., Morel, G.: How can human motion prediction increase transparency? In: Proceedings of IEEE Int Conference on Robotics and Automation (May 2008)Google Scholar