Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

Wei Wang, Chang Wei, Yuki Suga, Chiahao Kuo, Alexander Schmitz, Shigeki Sugano

    Research output: Contribution to journalArticle

    Abstract

    Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque measurements, thus leading to high performance of torque regulation and large range of impedance shaping. Physical human-robot interaction experiments' results also demonstrate its great advantage over motor current and strain gauge based control.

    Original languageEnglish
    Article number8007230
    Pages (from-to)187-194
    Number of pages8
    JournalIEEE Robotics and Automation Letters
    Volume3
    Issue number1
    DOIs
    Publication statusPublished - 2018 Jan 1

    Fingerprint

    Light measurement
    Human-robot Interaction
    Human robot interaction
    Impedance
    Torque
    Torque measurement
    Strain gages
    Range of data
    Strain Gauge
    Actuators
    Feedback
    Actuator
    High Performance
    Experiments
    Requirements
    Demonstrate
    Experiment

    Keywords

    • Compliance and impedance control
    • physical human-robot interaction

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Human-Computer Interaction
    • Biomedical Engineering
    • Mechanical Engineering
    • Control and Optimization
    • Artificial Intelligence
    • Computer Science Applications
    • Computer Vision and Pattern Recognition

    Cite this

    Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation. / Wang, Wei; Wei, Chang; Suga, Yuki; Kuo, Chiahao; Schmitz, Alexander; Sugano, Shigeki.

    In: IEEE Robotics and Automation Letters, Vol. 3, No. 1, 8007230, 01.01.2018, p. 187-194.

    Research output: Contribution to journalArticle

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