Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

Wei Wang; Chang Wei; Yuki Suga; Chiahao Kuo; Alexander Schmitz; Shigeki Sugano

doi:10.1109/LRA.2017.2738332

Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

Wei Wang^*, Chang Wei, Yuki Suga, Chiahao Kuo, Alexander Schmitz, Shigeki Sugano

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

Abstract

Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque measurements, thus leading to high performance of torque regulation and large range of impedance shaping. Physical human-robot interaction experiments' results also demonstrate its great advantage over motor current and strain gauge based control.

Original language	English
Article number	8007230
Pages (from-to)	187-194
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	3
Issue number	1
DOIs	https://doi.org/10.1109/LRA.2017.2738332
Publication status	Published - 2018 Jan

Keywords

Compliance and impedance control
physical human-robot interaction

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2017.2738332

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title = "Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation",

abstract = "Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque measurements, thus leading to high performance of torque regulation and large range of impedance shaping. Physical human-robot interaction experiments' results also demonstrate its great advantage over motor current and strain gauge based control.",

keywords = "Compliance and impedance control, physical human-robot interaction",

author = "Wei Wang and Chang Wei and Yuki Suga and Chiahao Kuo and Alexander Schmitz and Shigeki Sugano",

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AU - Suga, Yuki

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AU - Schmitz, Alexander

AU - Sugano, Shigeki

PY - 2018/1

Y1 - 2018/1

N2 - Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque measurements, thus leading to high performance of torque regulation and large range of impedance shaping. Physical human-robot interaction experiments' results also demonstrate its great advantage over motor current and strain gauge based control.

AB - Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque measurements, thus leading to high performance of torque regulation and large range of impedance shaping. Physical human-robot interaction experiments' results also demonstrate its great advantage over motor current and strain gauge based control.

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Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

Abstract

Keywords

ASJC Scopus subject areas

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