NDLI: Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task

Content Provider	IEEE Xplore Digital Library
Author	Tsumugiwa, T. Yokogawa, R. Hara, K.
Copyright Year	2002
Description	Author affiliation: Dept. of Mech. Eng., Doshisha Univ., Kyoto, Japan (Tsumugiwa, T.; Yokogawa, R.; Hara, K.)
Abstract	This paper presents a novel variable impedance control method for a human-robot cooperative task. An impedance control system based on a positioning control of a robot with time delay of the robot and a human operator can become unstable when the stiffness of a human arm or body is increased in the human-robot cooperative task. The proposed variable impedance controller varies the viscosity coefficient of the robot in proportion to an estimated value of the stiffness of the tip of the human arm. A method of a proposed variable impedance control makes the human-robot cooperative system stable and the cooperative task easy. In order to confirm the usefulness of the proposed control method a cooperative calligraphic task, that is writing a Kanji character with a writing brush, is performed. Experimental results illustrate that the proposed control method is effective for the human-robot cooperative task.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	644
Ending Page	650
File Size	646617
Page Count	7
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1013431
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Impedance Humans Control systems Writing Robot control Delay effects Proportional control Viscosity Cooperative systems Brushes
Content Type	Text
Resource Type	Article

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