Essential considerations for design and control of human-interactive robots

Hyunglae Lee, Neville Hogan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

Managing the trade-off between performance and stability is a crucial issue in physical human-robot interaction, and this has become more important than ever apace with growing needs for physically human-interactive robots in many fields, such as assistive robotics and rehabilitation robotics. In this paper, we present two essential considerations for design and control of robots physically interacting with humans: energetic passivity and mechanical impedance. Characterization of passive, dissipative, and active behavior of the human neuromuscular system is essential to ensure and control coupled stability in physical human-robot interaction. In addition, characterization of human mechanical impedance at the interaction port provides detailed quantitative information to describe interactive dynamics. The importance of these characterizations is demonstrated by simple examples and the authors' previous research on the human ankle. Implications for quantitative guidelines for robot design and control are discussed.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3069-3074
Number of pages6
Volume2016-June
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Lee, H., & Hogan, N. (2016). Essential considerations for design and control of human-interactive robots. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (Vol. 2016-June, pp. 3069-3074). [7487472] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487472