Article
Chemistry, Analytical
Keya Ghonasgi, Saad N. Yousaf, Paria Esmatloo, Ashish D. Deshpande
Summary: This paper introduces a modular sensing panel design that uses force-sensing resistors combined with robust electrical and mechanical integration principles for distributed load measurement. The design is validated through the use of 24 sensing panels on an upper-arm cuff, in conjunction with the Harmony exoskeleton.
Article
Robotics
Thierry Laliberte, Clement Gosselin
Summary: This article presents a general framework for using low-impedance displacement sensors on serial robot links for intuitive physical human-robot interaction. A novel three-degree-of-freedom low-impedance displacement sensor design is introduced, showing very intuitive low-impedance interaction involving very low interaction forces.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Robotics
Patrick Dills, Alexander Dawson-Elli, Kreg Gruben, Peter Adamczyk, Michael Zinn
Summary: Cooperative robots have limited capabilities compared to industrial robots, but low impedance robotic actuators aim to increase their power and force control. A new balanced hybrid active-passive actuator is proposed, combining multiple components to enhance the performance of cooperative robots.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Computer Science, Information Systems
Shih-Hsuan Chien, Jyun-Hsiang Wang, Ming-Yang Cheng
Summary: This paper presents a robotic assistance control scheme integrating human motion intention and real-time hand impedance compensation, where a fuzzy RBF hand impedance compensator yielded the best assistance results among tested robotic assistance control schemes.
Article
Chemistry, Analytical
Zhipeng Wang, Chifu Yang, Zhen Ding, Tao Yang, Hao Guo, Feng Jiang, Bowen Tian
Summary: The advantages of Bowden cable-based exoskeletons lie in their lightweight and flexible nature, making them convenient for human assistance. However, their performance is restricted by the exoskeleton's structure and human-exoskeleton interaction. In this study, control methods including disturbance observer, human-exoskeleton interaction feedforward model, and angle prediction using encoder are proposed to compensate for disturbances and limitations, thus improving the accuracy of assistance.
Article
Automation & Control Systems
Mojtaba Sharifi, Amir Zakerimanesh, Javad K. Mehr, Ali Torabi, Vivian K. Mushahwar, Mahdi Tavakoli
Summary: This survey systematically reviews various concepts and methodologies developed in the past two decades for studying the impedance or admittance of robotic systems that physically interact with humans. It categorizes and compares the assumptions and mathematical formulations for online adjustment of impedance models and controllers for physical human-robot interaction (HRI), while discussing strategies for variation and learning of appropriate impedance elements. Additionally, different methods involving linear/nonlinear analyses and Gaussian approximation algorithms are reviewed, along with current challenges and research trends in physical HRI.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Robotics
Guoxin Li, Zhijun Li, Zhen Kan
Summary: This article introduces an assimilation control method that reshapes the physical interaction trajectory to enable collaboration and competition in human-robot systems. It utilizes force feedback to achieve safe manipulation and broader interaction behaviors.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Diego F. Paez-Granados, Hideki Kadone, Modar Hassan, Yang Chen, Kenji Suzuki
Summary: This article introduces a lightweight exoskeleton wheelchair as a personal mobility device for lower-body impaired users. The exoskeleton utilizes a novel passive mechanism using a gas spring as an energy storage unit to provide postural transition support during sit-to-stand/stand-to-sit transitions. A direction-dependent coupling of knees and hip joints is achieved through a double-pulley wire system, maximizing energy transfer and natural movement. The device features an embodied user interface for hands-free navigation using torso pressure sensing. Evaluation on unimpaired users shows significant reduction in muscle activity during assisted sit-to-stand/stand-to-sit transitions. Natural torso leaning movements are also demonstrated. Further research is needed to enhance the applicability and expand the user population of the passive postural transition assistance.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Jiyuan Song, Aibin Zhu, Yao Tu, Xiaodong Zhang, Guangzhong Cao
Summary: This research introduces a novel crank-slider series elastic actuator (CS-SEA) for lower-limb exoskeleton joint module. Compared to traditional designs, it has better torque effect and transparency. The precise force control performance is verified through experiments, and it is successfully applied in a knee exoskeleton prototype.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Computer Science, Artificial Intelligence
Tairen Sun, Jiantao Yang, Yongping Pan, Hongliu Yu
Summary: This article proposes a model-based impedance learning control approach that can provide variable impedance regulation for robots through online impedance learning without interaction force sensing. The proposed control approach guarantees the closed-loop control systems to be uniformly ultimately bounded and can be applied to physical human-robot interaction in repetitive tasks.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Robotics
Johannes Lachner, Felix Allmendinger, Eddo Hobert, Neville Hogan, Stefano Stramigioli
Summary: This study investigates the certification process of applications with physical human-robot interaction (pHRI) and proposes controlling the robot's energy to ensure safety. By reducing the number of safety-related parameters, the proposed technique accelerates the commissioning of pHRI applications.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Engineering, Electrical & Electronic
Yinhao Liang, Guanglong Du, Chunquan Li, Chuxin Chen, Xueqian Wang, Peter X. Liu
Summary: This article presents a novel gesture-based natural human-robot interaction interface, which integrates a markerless gesture tracking system and an unrestricted electromagnetic force feedback mechanism. The proposed interface allows the operator to control the robot naturally and efficiently without any markers, while providing high-precision operation accuracy. Experimental results demonstrate the suitability of this interface for high-precision human-robot interactive tasks.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2022)
Article
Chemistry, Multidisciplinary
Paramin Neranon, Anapong Sutiphotinum
Summary: This research focused on developing a behavior-based control strategy for robot-to-human object handover by understanding equivalent human-human handover. The optimized hybrid position and impedance control was effective in ensuring stability, adaptability, and comfort of the robot during object handover tasks. The survey responses and performance measurements showed significant satisfaction with the overall control performance in the robotic system.
APPLIED SCIENCES-BASEL
(2021)
Article
Automation & Control Systems
Jie Wang, Jiahao Liu, Gaowei Zhang, Shijie Guo
Summary: This paper presents a periodic event-triggered sliding mode control scheme based on human-robot cooperation for lower limb exoskeletons. A Genetic Algorithm-Back propagation neural network is proposed to estimate the wearer's motion intention using electromyography signals. The designed strategy ensures convergence of the exoskeleton system and saves communication resources. Comparative simulation and experimental analysis verify the effectiveness of the proposed control method.
Article
Engineering, Mechanical
Julien M. Audet, Clement Gosselin
Summary: This paper introduces a novel 1-dof gravity balanced rotational manipulator for industrial assembly, demonstrating its viability in physical human-robot interaction through experimental validation.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
