Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human–Robot Collaboration

This letter proposes a novel human-robot collaboration (HRC) control approach to alert and reduce the static joint torque overloading of a human partner while executing shared tasks with a robot. Using a preidentified statically equivalent serial chain model, variations of the centre-of-pressure and...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE robotics and automation letters 2018-01, Vol.3 (1), p.68-75
Hauptverfasser:	Wansoo Kim, Jinoh Lee, Peternel, Luka, Tsagarakis, Nikos, Ajoudani, Arash
Format:	Artikel
Sprache:	eng
Schlagworte:	Collaboration Estimation human factors and human-in-the-loop Human-centered robotics Load modeling Load sharing Optimization Optimization techniques Overloading physical human-robot interaction Real time Real-time systems Robot control Robots Service robots Torque
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Schreiben Sie den ersten Kommentar!