A proactive controller for human-driven robots based on force/motion observer mechanisms

Li, Yanan; Yang, Lin; Huang, Deqing; Yang, Chenguang; Xia, Jingkang

Abstract

This article investigates human-driven robots via physical interaction, which is enhanced by integrating the human partner's motion intention. A human motor control model is employed to estimate the human partner's motion intention. A system observer is developed to estimate the human's control input in this model, so that force sensing is not required. A robot controller is developed to incorporate the estimated human's motion intention, which makes the robot proactively follow the human partner's movements. Simulations and experiments on a physical robot are carried out to demonstrate the properties of our proposed controller.

• Journal Article Type: Article
• Acceptance Date: Jan 11, 2022
• Online Publication Date: Jan 31, 2022
• Publication Date: Oct 1, 2022
• Deposit Date: Oct 25, 2022
• Publicly Available Date: Feb 1, 2024
• Journal: IEEE Transactions on Systems, Man, and Cybernetics: Systems
• Print ISSN: 2168-2216
• Electronic ISSN: 2168-2232
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 52
• Issue: 10
• Pages: 6211-6221
• DOI: https://doi.org/10.1109/tsmc.2022.3143892
• Keywords: Electrical and Electronic Engineering, Computer Science Applications, Human-Computer Interaction, Control and Systems Engineering, Software, Force control, human–robot interaction (HRI), motion control
• Public URL: https://uwe-repository.worktribe.com/output/10024010
• Publisher URL: https://ieeexplore.ieee.org/document/9697373
• Related Public URLs: https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6221021