TY - GEN
T1 - Essential considerations for design and control of human-interactive robots
AU - Lee, Hyunglae
AU - Hogan, Neville
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84977525198&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2016.7487472
DO - 10.1109/ICRA.2016.7487472
M3 - Conference contribution
AN - SCOPUS:84977525198
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3069
EP - 3074
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -