Human guided trajectory and impedance adaptation for tele-operated physical assistance
| Autor: | Gourmelen, Guillaume, Navarro, Benjamin, Cherubini, Andrea, Ganesh, Gowrishankar |
|---|---|
| Přispěvatelé: | Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), JST ERATO Grant Number JPMJER1701, Japan |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Telerobotic [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV] 02 engineering and technology tele-impedance human in the loop [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation impedance control Human Impedance Estimation Human Reference Estimation teleoperation human guidance [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] |
| Zdroj: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Sep 2021, Prague, Czech Republic IEEE International Conference on Robotics and Automation (ICRA) |
| Popis: | Also in IEEE International Conference on Robotics and Automation (ICRA) (http://www.icra2021.org/); International audience; Human physical assistance requires the assistant to tune both his trajectory and impedance in order to assist an individual as well as be guided by him. In this study we propose a controller for teleoperated human assistance that allows the assistant to guide the assisting robot in both trajectory and impedance. We propose to use the inherent perturbations in the task, induced by the elderly or stroke patient, for impedance estimation, while a simple neuroscience based filter allows the reference estimation of the operator. We tested our impedance estimation and the controller as a whole in two experiments in which a human operator guided a robot suffering force perturbations that simulated a human patient. |
| Databáze: | OpenAIRE |
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