TY - GEN
T1 - Investigation and Design of Robotic Assistance Control System for Cooperative Manipulation
AU - Muthusamy, Rajkumar
AU - Indave, Jose Miguel
AU - Muthusamy, Praveen Kumar
AU - Hassan, Eman
AU - Zweiri, Yahya
AU - Kyrki, Ville
AU - Gan, Dongming
N1 - Funding Information:
This publication is based upon work supported by the Khalifa University of Science and Technology under Award No. CIRA-2018-55 and RC1-2018-KUCARS.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85084316145
U2 - 10.1109/CYBER46603.2019.9066573
DO - 10.1109/CYBER46603.2019.9066573
M3 - Conference contribution
AN - SCOPUS:85084316145
T3 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
SP - 889
EP - 895
BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -