Abstract
This paper proposes a human-robot cooperative control of exoskeleton robot assisting muscle strength of a human upper extremity when lifting or transporting heavy objects. When a human wears a robot, the motions of the human and robot generate interaction, which is called HRI (Human-Robot Interaction). To generate reference motion from the interaction force, a pHRI model was developed using virtual mechanical impedance, and an experimental method to determine the impedance parameters of the pHRI model was proposed. The controller was developed in such a way that the desired motion will be controlled using dynamic model-based compensation. To verify the proposed control method, it was applied to an exoskeleton robot with 6-DOF for both arms. Motion-following-performance experiment and muscle-strength-assisting-effect experiment were conducted using this robot. Experimental results, the wearer of the exoskeleton robot can handle a small force was the heavy object.
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Abbreviations
- F HR :
-
human-robot interaction force
- ω HR n :
-
natural frequency of the pHRI model
- ω H n :
-
natural frequency of a human arm
- ζ HR :
-
damping ratio of the pHRI model
- ζ H :
-
damping ratio of a human arm
- M H p :
-
% overshoot of a human arm
- t H r :
-
rising time of a human arm
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Lee, H., Lee, B., Kim, W. et al. Human-robot cooperative control based on pHRI (Physical Human-Robot Interaction) of exoskeleton robot for a human upper extremity. Int. J. Precis. Eng. Manuf. 13, 985–992 (2012). https://doi.org/10.1007/s12541-012-0128-x
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DOI: https://doi.org/10.1007/s12541-012-0128-x