Article
Automation & Control Systems
Xinbo Yu, Bin Li, Wei He, Yanghe Feng, Long Cheng, Carlos Silvestre
Summary: An adaptive impedance controller for human-robot co-transportation is proposed in this research. It utilizes vision and force sensing to obtain human hand position in task space, ensuring safe interaction and smooth control behavior during the transportation task.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Engineering, Industrial
Tie Zhang, Hanlei Sun, Yanbiao Zou, Hubo Chu
Summary: This article proposes a human-robot collaboration method based on electromyography (EMG) signals. It controls the robot to complete the collaboration task by learning the speed adjustment skills from human tutors. The method improves the accuracy and stability of human-robot interaction by adding an adaptive data correction unit and an input-output control unit, and demonstrates better interaction performance in peg-in-hole assembly.
JOURNAL OF MANUFACTURING SYSTEMS
(2022)
Article
Engineering, Electrical & Electronic
Yonggan Yan, Hongbo Wang, Haoyang Yu, Fuhao Wang, Junyu Fang, Jianye Niu, Shuxiang Guo
Summary: In this paper, a novel robot system for vascular interventional surgery (VIS) was developed. It predicts guidewire insertion states and operates collaboratively. The system includes a prediction model for insertion states, a human-machine collaborative control strategy, a human-machine trust evaluation model, and a master-slave collaborative mapping model. The effectiveness of the models was verified through evaluation experiments, demonstrating the usability of the system.
IEEE SENSORS JOURNAL
(2022)
Article
Robotics
Carlos Rodriguez de Cos, Dimos Dimarogonas
Summary: The letter proposes a control strategy for human-robot cooperative manipulation, addressing uncertainty by inferring human contribution to system dynamics and redundantly tracking shared load references. The approach's robustness and accuracy are enhanced through these measures. The control strategy is validated through theoretical Lyapunov stability analysis and experimental results with two 6-DOF robot manipulators under external disturbances.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Manufacturing
Sichao Liu, Lihui Wang, Xi Vincent Wang
Summary: This article investigates multimodal data-driven robot control for human-robot collaborative assembly. A programming-free human-robot interface is designed to fuse multimodal human commands, and deep learning is explored for accurate translation of brainwave command phrases into robot commands. Event-driven function blocks are used for high-level robot control, and a case study is conducted to demonstrate the effectiveness of the system.
JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME
(2022)
Article
Engineering, Mechanical
Zhijun Wang, Bocheng Zhu, Yue Yang, Zhanxian Li
Summary: In recent years, the traditional manufacturing industry has been shifting towards flexible and intelligent manufacturing. Robotics has become widespread in human production and life, bringing significant changes to society. This paper proposes a method to identify collision joints by detecting real-time current changes in each joint of the robot and solve the collision point location information using force sensors at the base of the robot. The results show that this method is correct and reliable.
Article
Automation & Control Systems
Xinbo Yu, Wei He, Qing Li, Yanan Li, Bin Li
Summary: This article proposes a hybrid framework using visual and force sensing for human-robot co-carrying tasks, achieving motion synchronization and stable interaction behavior between human and robot. The framework's effectiveness is validated through simulations and experiments.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Automation & Control Systems
Gaoyang Pang, Geng Yang, Wenzheng Heng, Zhiqiu Ye, Xiaoyan Huang, Hua-Yong Yang, Zhibo Pang
Summary: The new collaborative robot skin (CoboSkin) enhances safety in human-robot collaboration by providing softness, variable stiffness, and sensitivity features. It is composed of inflatable and sensing units, with the ability to measure distributed contact force and adjust stiffness by varying air pressure.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Manufacturing
Sichao Liu, Lihui Wang, Xi Vincent Wang
Summary: This research introduces an approach to haptically controlling an industrial robot without external sensors for human-robot collaborative assembly. By utilizing dynamic models and adaptive admittance control with torque-based commands, accurate positioning and smooth movement are achieved.
CIRP JOURNAL OF MANUFACTURING SCIENCE AND TECHNOLOGY
(2021)
Article
Robotics
Peng Chang, Rui Luo, Mehrdad Dorostian, Taskin Padr
Summary: This study focuses on human-robot collaboration in completing an assembly task, specifically the plug task. By estimating the initial socket pose statistically, updating it in real-time using a Kalman filter, and continuously tracking the plug for visual servoing, the proposed approach demonstrates fast and accurate performance as well as flexibility compared to a state-of-the-art method based on interactive probabilistic movement primitives.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Surgery
Tian-Shu Kan, Kang-Jie Cheng, Yun-Feng Liu, Russell Wang, Wei-Dong Zhu, Fu-Dong Zhu, Xian-Feng Jiang, Xing-Tao Dong
Summary: The study developed a methodology for robotic dental implant placement using HRCDIS, achieving accurate and stable drilling based on surgeon's decisions and robotic arm movements. The system eliminates complex robot programming and reduces the required force for hand-guiding significantly. Results showed average errors in drilling were within 1.5 millimeters and implant angle deviation was around 4 degrees when compared to baseline data.
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
(2022)
Article
Chemistry, Analytical
Hu Shi, Boyang Zhang, Xuesong Mei, Qichun Song
Summary: This study focused on force detection of surgical instruments and force feedback control of the serial surgical robotic arm. The relationship between acting force and output voltage was determined through experiment, and a three-dimensional force output was decomposed using an extreme learning machine algorithm. An impedance control strategy was used to limit force interaction amplitudes and achieve control of force from the slave manipulator end.
Article
Automation & Control Systems
Enhao Zheng, Yuhua Li, Zhiyu Zhao, Qining Wang, Hong Qiao
Summary: Adapting to operator intent and external physical uncertainties is crucial for human-robot collaboration. The study introduced a control interface combining EIT sensing with robotic controllers for assistance in collaborative tasks, showing robustness to external disturbances. The interface performed well in grasp force estimation and human-robot sawing tasks, achieving comparable or better results than current technology and showing potential for future advancements in this field.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Computer Science, Interdisciplinary Applications
Kelly Merckaert, Bryan Convens, Chi-ju Wu, Alessandro Roncone, Marco M. Nicotra, Bram Vanderborght
Summary: This paper introduces a computationally efficient control scheme for safe human-robot interaction, relying on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time. The proposed solution has been theoretically supported and experimentally validated on the Franka Emika Panda robotic manipulator.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2022)
Article
Computer Science, Cybernetics
Yahya M. Hamad, Yusuf Aydin, Cagatay Basdogan
Summary: The article aims to design an admittance controller for a robot to adaptively change its contribution to a collaborative manipulation task with a human partner. The experimental results demonstrate the existence of an optimal admittance time constant maximizing human force amplification and a desirable admittance gain profile leading to more effective co-manipulation.
IEEE TRANSACTIONS ON HAPTICS
(2021)