Human-robot cooperative control based on pHRI (Physical Human-Robot Interaction) of exoskeleton robot for a human upper extremity
- Authors
- Lee, Heedon; Lee, Byeongkyu; Kim, Wansoo; Gil, Myeongsoo; Han, Jungsoo; Han, Changsoo
- Issue Date
- Jun-2012
- Publisher
- 한국정밀공학회
- Keywords
- Exoskeleton; Human-robot cooperation control; Physical human-robot interaction; Power assistive robot; Wearable robot
- Citation
- International Journal of Precision Engineering and Manufacturing, v.13, no.6, pp.985 - 992
- Indexed
- SCIE
KCI
- Journal Title
- International Journal of Precision Engineering and Manufacturing
- Volume
- 13
- Number
- 6
- Start Page
- 985
- End Page
- 992
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/107404
- DOI
- 10.1007/s12541-012-0128-x
- ISSN
- 2234-7593
- Abstract
- This paper proposes a human-robot cooperative control of exoskeleton robot assisting muscle strength of a human upper extremity when lifting or transporting heavy objects. When a human wears a robot, the motions of the human and robot generate interaction, which is called HRI (Human-Robot Interaction). To generate reference motion from the interaction force, a pHRI model was developed using virtual mechanical impedance, and an experimental method to determine the impedance parameters of the pHRI model was proposed. The controller was developed in such a way that the desired motion will be controlled using dynamic model-based compensation. To verify the proposed control method, it was applied to an exoskeleton robot with 6-DOF for both arms. Motion-following-performance experiment and muscle-strength-assisting-effect experiment were conducted using this robot. Experimental results, the wearer of the exoskeleton robot can handle a small force was the heavy object.
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