Variable Damping Control for pHRI: Considering Stability, Agility, and Human Effort in Controlling Human Interactive Robots

• Published in: IEEE transactions on human-machine systems Vol. 51; no. 5; pp. 504 - 513
• Main Authors: Zahedi, Fatemeh, Arnold, James, Phillips, Connor, Lee, Hyunglae
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Agility; Control stability; Controllers; Damping; End effectors; Energy dissipation; Extremities; human effort; Human engineering; Human-robot interaction; Impedance; Interactive control; Mathematical analysis; Muscles; Performance measurement; physical human robot interaction; Rehabilitation; Robot arms; Stability; Tradeoffs; Tuning; variable impedance control

This article presents a multi-degree-of-freedom variable damping controller to manage the trade-off between stability and agility and to reduce user effort in physical human-robot interaction. The controller accounts for the human body's inherent impedance properties and applies a range of robo...