Abstract
Enhancement of human performance using an intelligent assist device is becoming more common. In order to achieve effective augmentation of human capacity, cooperation between human and robot must be safe and very intuitive. Ensuring such collaboration remains a challenge, especially when admittance control is used. This paper addresses the issues of transparency and human perception coming from vibration in admittance control schemes. Simulation results obtained with our suggested improved model using an admittance controller are presented, then four models using transfer functions are discussed in detail and evaluated as a means of simulating physical human–robot interaction using admittance control. The simulation and experimental results are then compared in order to assess the validity and limitations of the proposed models in the case of a four-degree-of-freedom intelligent assist device designed for large payload.
Highlights
Human augmentation is an application of robotics in which the force capability of a machine is combined directly with the skill of a human user
Stability issues associated with impedance control have been studied in depth,[3,4,5,6] fewer studies have been devoted to admittance control,[7,8,9,44] or to its modeling.[10]
With respect to the state of the art in admittance controller design and technology, the main contribution of this paper is to propose a new model representing physical interaction that can match observations presented in our previous research work[42,13,46] and in others,[11,12] allowing humans to operate an intelligent assist device (IAD) more efficiently
Summary
Human augmentation is an application of robotics in which the force capability of a machine is combined directly with the skill of a human user. Applications involving moderately large payloads often make use of admittance control, in which a handle or a force/torque sensor is used to detect human intention.[1,2]. Stability issues associated with impedance control have been studied in depth,[3,4,5,6] fewer studies have been devoted to admittance control,[7,8,9,44] or to its modeling.[10] the results presented in these studies are not consistent with observations reported elsewhere[11,12] or with the experimental results obtained in our research. A general physical interactive theoretical model allowing to mathematically demonstrate the stability margin for a general IAD was not developed
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
