User-Adaptive Variable Damping Control Using Bayesian Optimization to Enhance Physical Human-Robot Interaction

• Published in: IEEE robotics and automation letters Vol. 7; no. 2; pp. 2724 - 2731
• Main Authors: Zahedi, Fatemeh, Chang, Dongjune, Lee, Hyunglae
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.04.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Assistive robotics; Bayesian analysis; Controllers; Damping; Force; Gaussian process; Human engineering; Human motion; Human performance; Impedance; impedance control; interaction control; Linear programming; Noise measurement; Optimization; Performance measurement; Physical human-robot interaction; Process parameters; Robot arms; Robots; Stability; Tuning
• ISSN: 2377-3766; 2377-3766
• DOI: 10.1109/LRA.2022.3144511

This letter presents a user-adaptive variable damping controller that enhances the overall performance of coupled human-robot systems in terms of stability, agility, user effort, and energy expenditure during physical human-robot interaction. The controller accounts for impedance properties of the h...