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Experimental Evaluation of Several Strategies for Human Motion Based Transparency Control

  • Nathanaël Jarrassé
  • Jamie Paik
  • Viviane Pasqui
  • Guillaume Morel
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 54)

Abstract

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.

Keywords

Force Control Force Sensor Force Feedback Haptic Device Bandwidth Limitation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Nathanaël Jarrassé
    • 1
  • Jamie Paik
    • 1
  • Viviane Pasqui
    • 1
  • Guillaume Morel
    • 1
  1. 1.Institut des Systèmes Intelligents et de Robotique (CNRS - UMR 7222)Université P. et M. Curie 

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