Investigation and Design of Robotic Assistance Control System for Cooperative Manipulation

Rajkumar Muthusamy, Jose Miguel Indave, Praveen Kumar Muthusamy, Eman Fayez Hasan, Yahya Zweiri, Ville Kyrki, Dongming Gan

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

Cooperative manipulation has become an important task in both industrial and domestic settings. Control of dexterous robotic systems to assist such task is challenging. In this paper, we first investigate three impedance-based control approaches for robotic assistance in cooperative manipulation. In particular, we study the level of assistance and cooperation from each approach by performing physical human-robot interaction (pHRI) experiments. Modern robotic manipulators are equipped with sophisticated robot hands to perform dexterous manipulation. The multi-fingered hand-arm cooperation with a human partner can be improved by adding admittance or impedance control to the finger part sensing interaction forces. The conventional way of using force/torque sensors at the wrist has limitations in distinguishing internal and external forces as well as relating the point of interaction. Tactile sensing can be useful in such a system to estimate the forces exerted by the human user during the interaction as well as to distinguish the applied contact force. Second, detection of human intended forces is demonstrated with a tactile based multi-fingered robot hand. Finally, a novel design of an assistance system that incorporates tactile sensing and chosen assistance approach modeled as a virtual tool in admittance control is presented for dexterous robot-human cooperative object manipulation.

Original languageEnglish
Title of host publicationProceedings of the 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PublisherIEEE
Pages889-895
Number of pages7
ISBN (Electronic)9781728107691
DOIs
Publication statusPublished - Jul 2019
MoE publication typeA4 Article in a conference publication
EventIEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems - Suzhou, China
Duration: 29 Jul 20192 Aug 2019
Conference number: 9

Conference

ConferenceIEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems
Abbreviated titleCYBER
CountryChina
CitySuzhou
Period29/07/201902/08/2019

Keywords

  • Robot sensing systems
  • Force
  • Impedance
  • Robot kinematics
  • Task analysis

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