NDLI: Kalman-Filter-Based Sensor Integration of Variable Power Assist Control Based on Human Stiffness Estimation

Content Provider	IEEE Xplore Digital Library
Author	Mitsantisuk, C. Katsura, S. Ohishi, K.
Copyright Year	1982
Abstract	In applications such as robot collaborating with human operators, the robot system must operate more slowly and be more compliant to safe user interaction. Moreover, a consideration of the dynamic properties of human operators is also important for the human application. According to such requirements, this paper presents a novel sensorless force control approach for the robot-assisted motion of the human arm. A twin direct-drive motor system with a wire rope has been developed to provide a precise force sensation and safety for human-robot interaction. In order to control the wire rope tension and human interaction force, two mode designs of the force control are realized. The common mode is utilized for the control of wire rope tension. In the differential mode, the Kalman-filter-based sensor integration for the interaction force observer is proposed in this paper. By combining two motor encoders and a commercial acceleration sensor together, white Gaussian noise is reduced, and high accurate feedback of the contact force is obtained. A variable power assist control method based on a real-time estimation of the stiffness of the human arm is also introduced. By considering the stiffness in human arm movements, this method increases the efficiency of the force control system and realizes comfortable force for human-robot interaction. The effectiveness of the method is verified by experimental results.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	3897
Ending Page	3905
Page Count	9
File Size	1217293
File Format	PDF
ISSN	02780046
Volume Number	56
Issue Number	10
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Force sensors Robot sensing systems Wire Human robot interaction Force feedback Collaboration Safety Sensorless control Acceleration sensor integration system Acceleration control disturbance observer human interaction Kalman filter modal space design motion control power assist
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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