Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2002, Pages 644-650

  Tsumugiwa, Toru ^a   Yokogawa, Ryuichi ^a   Hara, Kei ^a  

^a DOSHISHA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

MOTION ESTIMATION; STIFFNESS; SYSTEM STABILITY; VISCOSITY;

HUMAN-ROBOT COOPERATIVE CALLIGRAPHIC TASK; IMPEDANCE CONTROL;

FORCE CONTROL;

EID: 0036059624     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. Variable impedance control of a robot for cooperation with a human
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3. Arm-manipulator coordination for load sharing using compliant control
4. Human power extender: An example of human-machine interaction via the T́ransfer of power and information signals
5. Mechanical impedance characteristics of robots for coexistence with humans
6. Proposal of skill-assist: A system of assisting human workers by reflecting their skills in positioning tasks
7. Estimation and modeling of human hand impedance during isometric muscle contraction
8. Human arm stiffness and equilibrium-point trajectory during multi-joint movement
9. Variable impedance control with regard to working process for man-machine cooperation-work system
10. Control of robot directly maneuvered by operator