Haptic devices require physical contact between operator and machine, using force feedback and creating a coupled system. Human contact reduces stability due to the response of human operators to stiffen the arm to stabilize the system, leading to a less stable system. Controllers cannot account for this, as operator stiffness is not measurable. This research examined the decreased stability due to increased operator arm stiffness and designed a system to compensate by providing the controller with additional information about the environment. Operator arm stiffness was estimated by measuring muscle activity using EMGs, then the dynamic characteristics of an impedance controller were adjusted according. The design is discussed and experimentally validating, showing increased stability and higher performance. Based on the results, an advanced probabilistic model of operator actions is explored for its applicability to enhance the system. Such a system could be used in many applications, including force assisting devices in industrial facilities.
- Dynamic Systems and Control Division
Measurement of Muscle Stiffness to Improve Stability of Haptic Human-Robot Interfaces
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Gallagher, W, Gao, D, & Ueda, J. "Measurement of Muscle Stiffness to Improve Stability of Haptic Human-Robot Interfaces." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 493-502. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8593
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