Dissipative control for physical human-robot interaction
File(s)
Published version
Author(s)
Bowyer, SA
Rodriguez y Baena, F
Type
Journal Article
Abstract
Physical human-robot interaction is fundamental to exploiting the capabilities of robots in tasks and environments where robots have limited cognition or comprehension and is virtually ubiquitous for robotic manipulation in highly unstructured environments, as are found in surgery. A critical aspect of physical human-robot interaction in these cases is controlling the robot so that the individual human and robot competencies are maximized, while guaranteeing user, task, and environment safety. Dissipative control precludes dangerous forcing of a shared tool by the robot, ensuring safety; however, it typically suffers from poor control fidelity, resulting in reduced task accuracy. In this study, a novel, rigorously formalized, n-dimensional dissipative control strategy is proposed that employs a new technique called “energy redirection” to generate control forces with increased fidelity while remaining dissipative and safe. Experimental validation of the method, for complete pose control, shows that it achieves a 90% reduction in task error compared with the current state of the art in dissipative control for the tested applications. The findings clearly demonstrate that the method significantly increases the fidelity and efficacy of dissipative control during physical human-robot interaction. This advancement expands the number of tasks and environments into which safe physical human-robot interaction can be employed effectively.
Date Issued
2015-12-01
Date Acceptance
2015-09-04
Citation
IEEE Transactions on Robotics, 2015, 31 (6), pp.1281-1293
ISSN
1552-3098
Publisher
Institute of Electrical and Electronics Engineers
Start Page
1281
End Page
1293
Journal / Book Title
IEEE Transactions on Robotics
Volume
31
Issue
6
Copyright Statement
This is an Open Access article © 2015 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution
requires IEEE permission.
requires IEEE permission.
Sponsor
Commission of the European Communities
Identifier
https://ieeexplore.ieee.org/document/7294686
Grant Number
270460
Subjects
Science & Technology
Technology
Robotics
Haptics and haptic interfaces
impedance control
medical robots and systems
physical human-robot interaction
virtual fixtures
SPATIAL MOTION CONSTRAINTS
VIRTUAL FIXTURES
SYSTEMS
Industrial Engineering & Automation
0801 Artificial Intelligence and Image Processing
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Publication Status
Published
Date Publish Online
2015-10-08