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

    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

    Fingerprint Dive into the research topics of 'Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation'. Together they form a unique fingerprint.

  • Cite this