VARIABLE IMPEDANCE CONTROL BASED ON ESTIMATION OF HUMAN ARM STIFFNESS FOR HUMAN-ROBOT COOPERATIVE TASK : Human-Robot Cooperative Calligraphic Task

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概要

• 論文の詳細を見る

• This paper presents a novel variable impedance control method for a human-robot cooperative task. There is a possibility that an impedance control system based on a positioning control of a robot with time delay of the robot and a human operator becomes unstable, when stiffness of a human arm is increased in the human-robot cooperative task. A proposed variable impedance controller varies a viscosity coefficient of the robot in proportion to an estimated value of the stiffness of the tip of the human arm. A proposed variable impedance control makes the human-robot cooperative system stable and the cooperative task easy.

• 一般社団法人日本機械学会の論文

著者

• Hara K

  Department Of Mechanical Engineering Doshisha University

• Hara Kei

  Department Of Gastroenterology Faculty Of Medicine University Of Tokyo

• YOKOGAWA Ryuichi

  Department of Mechanical Engineering, Doshisha University

• Yokogawa R

  Department Of Mechanical Engineering Doshisha University

• Yokogawa Ryuichi

  Department Of Mechanical Engineering Doshisha University

• TSUMUGIWA Toru

  Department of Mechanical Engineering, Doshisha University

• Tsumugiwa Toru

  Department Of Mechanical Engineering Doshisha University

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