Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque me...

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Veröffentlicht in:	IEEE robotics and automation letters 2018-01, Vol.3 (1), p.187-194
Hauptverfasser:	Wei Wang, Chang Wei, Suga, Yuki, Chiahao Kuo, Schmitz, Alexander, Sugano, Shigeki
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuator design Compliance and impedance control Human engineering Impedance Optical variables measurement physical human–robot interaction Robot sensing systems Robots Strain gauges Strain measurement Torque Torque measurement
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creator	Wei Wang Chang Wei Suga, Yuki Chiahao Kuo Schmitz, Alexander Sugano, Shigeki
description	Impedance shaping is a fundamental requirement for physical human-robot interaction. In order to achieve a large range impedance capability, light quantity measurement based torque feedback regulation has been introduced, based on which a stiff actuator design can be realized with reliable torque measurements, thus leading to high performance of torque regulation and large range of impedance shaping. Physical human-robot interaction experiments' results also demonstrate its great advantage over motor current and strain gauge based control.
doi_str_mv	10.1109/LRA.2017.2738332
format	Article
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subjects	Actuator design Compliance and impedance control Human engineering Impedance Optical variables measurement physical human–robot interaction Robot sensing systems Robots Strain gauges Strain measurement Torque Torque measurement
title	Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation
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