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Kinematic modeling and control for human-robot cooperation considering different interaction roles

Published online by Cambridge University Press:  28 February 2014

B. V. Adorno ,
A. P. L. Bó  and
P. Fraisse
B. V. Adorno*
Affiliation:
Department of Electrical Engineering, Universidade Federal de Minas Gerais, Av. Antônio Carlos 6627, CEP 31270-010, Belo Horizonte, MG, Brazil
A. P. L. Bó
Affiliation:
Universidade de Brasília, LARA, Caixa Postal 4386, 70919-970 Brasília-DF, Brazil
P. Fraisse
Affiliation:
Université Montpellier 2, LIRMM, 161 rue Ada, 34095 Montpellier, France
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).

Keywords

Physical human-robot interaction (pHRI)Functional electrical stimulation (FES)Kinematic modeling and control for pHRI
Type
Articles
Information
Robotica , Volume 33 , Issue 2 , February 2015 , pp. 314 - 331
Copyright
Copyright © Cambridge University Press 2014 

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