Cooperative force control in carrying an object by two humans

Author

Ikeura, Ryojun ; Inooka, Hikaru

Author_Institution

Dept. of Mech. Eng., Mie Univ., Tsu, Japan

Volume

3

fYear

1995

fDate

22-25 Oct 1995

Firstpage

2307

Abstract

Robots are expected to be human-friendly and to execute tasks cooperating with humans. Control system for the robots should be constructed so as to work adapting with human characteristics. In this paper, human characteristics in a cooperation task by two humans are analyzed and it is shown that the human performance can be expressed by impedance control. The authors also investigate the characteristics based on passivity. The results show that the passivity is high in a few seconds after the movement commences and before the movement ceases, and is low during high velocity interval

Keywords

cooperative systems; force control; force measurement; least squares approximations; man-machine systems; position measurement; robots; velocity measurement; cooperation task; cooperative force control; human characteristics; impedance control; object carrying; passivity; Automatic control; Control systems; Damping; Force control; Humans; Impedance; Mechanical engineering; Medical robotics; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538125

Filename

538125