NDLI: A haptic human-robot interface accounting for human parameter stochasticity

Content Provider	IEEE Xplore Digital Library
Author	Gallagher, W. Ueda, J.
Copyright Year	2014
Description	Author affiliation: Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA (Gallagher, W.; Ueda, J.)
Abstract	Force feedback haptic devices require physical contact between the operator and the machine, creating a coupled system where the stiffness changes based on that of the operator's arm. The natural human tendency to increase arm stiffness to stabilize motion increases the overall stiffness and reduces stability. Controllers commonly address this with increased damping, which slows the device and decreases operator efficiency. Previous research designed a system to estimate operator arm stiffness by measuring muscle activity and compensate accordingly, modifying the robot's motion based on operator interactions. This achieved the goal of reducing oscillations and increasing performance, but encountered drawbacks related to the unpredictable way in which humans modulate the dynamic parameters of their arm. Controllers designed to be robust to stochastic variation of system parameters are explored, and their effectiveness is validated experimentally. This could further increase the operator performance and reduce fatigue, which could translate into better efficiency and higher productivity.
Starting Page	4256
Ending Page	4261
File Size	1201243
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907478
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Service robots Damping Accuracy Dynamics Stability analysis
Content Type	Text
Resource Type	Article

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
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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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