Experimental validation of minimum-jerk principle in physical human-robot interaction | |
Chen Wang1,2; Liang Peng2; Zeng-Guang Hou1,2,3; Lincong Luo1,2; Sheng Chen1,2; Weiqun Wang2 | |
2018 | |
会议日期 | 2018-12-13 |
会议地点 | Siem Reap, Cambodia |
英文摘要 | Human motor control is a complex process, and undergoes changes due to the environmental interactions in physical human-robot interaction (pHRI). This pilot study aims to explore whether human motion under robotic constraints still complies with the same principles as in unconstrained situations, and how humans adapt to non-biological patterns of robot movements. Two typical modes in applications of pHRI (e.g., robot-assisted rehabilitation) are tested in this study. In humandominant mode, by building spring-damper force fields using a planar rehabilitation robot, we demonstrated that participants’ actual motion in reaching movements complied well with the standard minimum-jerk trajectory. However, when the virtual impedance between human force and virtual display was different from the human-robot physical impedance, the actual motion was also in a straight line but had a skewed bell-shaped velocity profile. In robot-dominant mode, by instructing participants to move along with the robot following biological or non-biological velocity |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/44877] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | Zeng-Guang Hou |
作者单位 | 1.University of Chinese Academy of Sciences 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 3.CAS Center for Excellence in Brain Science and Intelligence Technology |
推荐引用方式 GB/T 7714 | Chen Wang,Liang Peng,Zeng-Guang Hou,et al. Experimental validation of minimum-jerk principle in physical human-robot interaction[C]. 见:. Siem Reap, Cambodia. 2018-12-13. |
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