Synergistic Functional Muscle Networks Reveal the Passivity Behavior of the Upper-Limb in Physical Human-Robot Interaction

• Published in: IEEE robotics and automation letters Vol. 9; no. 5; pp. 4679 - 4686
• Main Authors: Oliver, Suzanne, Atashzar, S. Farokh
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.05.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Biological system modeling; Biomechanics; Electromyography; Energy absorption; Estimation; Haptic interfaces; haptics; Human engineering; human- centered robotics; Human-robot interaction; Limbs; Muscles; Networks; passivity; Physical human-robot interaction (pHRI); Prediction models; Predictions; Real time; Robot sensing systems; Robots; Sensors; Telerobotics; User centered design; Wrist
• ISSN: 2377-3766; 2377-3766
• DOI: 10.1109/LRA.2024.3382496

Utilizing the intrinsic capability of the human upper limb to absorb energy during kinesthetic human-robot interaction could allow for improved haptic feedback fidelity and reduce the conservatism of control in pHRI and telerobotic systems. However, estimating this energetic signature is complex. In...