User Force-Dependent Variable Impedance Control in Human-Robot Interaction

In this paper a novel type of variable impedance control (VIC) is presented. The controller adjusts the impedance depending on the force input of the user. In this way it is easy to accelerate and decelerate. Additionally, for high velocity the damping decreases and vice versa. This approach could b...

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Published in:IEEE International Conference on Automation Science and Engineering (CASE) pp. 1328 - 1335
Main Authors: Muller, Florian, Janetzky, Jan, Behrnd, Uwe, Jakel, Jens, Thomas, Ulrike
Format: Conference Proceeding
Language:English
Published: IEEE 01.08.2018
Subjects:
Control systems
Damping
Force
Human-robot interaction
Observers
Runtime
Stability analysis
ISSN:2161-8089
Online Access:Get full text
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Abstract In this paper a novel type of variable impedance control (VIC) is presented. The controller adjusts the impedance depending on the force input of the user. In this way it is easy to accelerate and decelerate. Additionally, for high velocity the damping decreases and vice versa. This approach could be interpreted as a combination of acceleration-dependent VIC and velocity-dependent VIC. To guarantee stability, a stability observer is introduced. The observer is based on a model which describes a combined passive and active behavior of the user. In addition, we present a user study with 45 participants where the differences between VIC, VIC with stability observer and a pure admittance controller were investigated. The results show an improvement of the VIC with stability observer in relation to the pure admittance controller among different categories. With both the variable impedance controller and the variable impedance controller with stability observer, the participants significantly improved their times in comparison to the pure admittance controller, while they maintained the same level of precision. Also the workload was considerably smaller and the user comfort increased with both controllers compared to the usage of the pure admittance controller.
AbstractList In this paper a novel type of variable impedance control (VIC) is presented. The controller adjusts the impedance depending on the force input of the user. In this way it is easy to accelerate and decelerate. Additionally, for high velocity the damping decreases and vice versa. This approach could be interpreted as a combination of acceleration-dependent VIC and velocity-dependent VIC. To guarantee stability, a stability observer is introduced. The observer is based on a model which describes a combined passive and active behavior of the user. In addition, we present a user study with 45 participants where the differences between VIC, VIC with stability observer and a pure admittance controller were investigated. The results show an improvement of the VIC with stability observer in relation to the pure admittance controller among different categories. With both the variable impedance controller and the variable impedance controller with stability observer, the participants significantly improved their times in comparison to the pure admittance controller, while they maintained the same level of precision. Also the workload was considerably smaller and the user comfort increased with both controllers compared to the usage of the pure admittance controller.
Author Janetzky, Jan
Muller, Florian
Jakel, Jens
Behrnd, Uwe
Thomas, Ulrike
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  givenname: Ulrike
  surname: Thomas
  fullname: Thomas, Ulrike
  email: ulrike.thomas@etit.tuchemnitz.de
  organization: Robotics and Human-Machine-Interaction Lab, Chemnitz University of Technology
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Snippet In this paper a novel type of variable impedance control (VIC) is presented. The controller adjusts the impedance depending on the force input of the user. In...
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StartPage 1328
SubjectTerms Control systems
Damping
Force
Human-robot interaction
Observers
Runtime
Stability analysis
Title User Force-Dependent Variable Impedance Control in Human-Robot Interaction
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