PSD based virtual nonholonomic constraint for human interaction of redundant manipulator

Most of people can drive a car, ride a bicycle or handle shopping cart, which geometrically involve nonholonomic constraint. Nonholonomic system offers people an intuitive system to handle simply. As an application of this human´s ability, we set virtual nonholonomic constraint at the end-effector of robot manipulator. The operator grasps its end-effector and handles it as if he is using a shopping cart. This work assumes the people, especially old generation and children, to use robots without any specific skills or knowledge on the robot system. And then, the robot system should be simple to expect how it would move next. We propose a human interaction system of redundant manipulator and people using virtual nonholonomic constraint. Virtual nonholonomic constraint would be realized with constraint Jacobian and position sensitive detector (PSD). By reaction torque estimation observer, the system provides a power assist, which would help people with carrying some heavy stuffs. The potentiality and effectiveness of this system are confirmed by computational simulation.