A novel human-robot interface based on soft skin sensor designed for the upper-limb exoskeleton
The upper-limb exoskeleton is capable of enhancing human arm strength beyond normal levels, whereas deriving the operator’s desired action straightforward turns out to be one of the significant difficulties facing human-robot interaction research. In the study, the human-robot interface was presente...
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| Veröffentlicht in: | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2022-01, Vol.236 (1), p.566-578 |
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| container_title | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science |
| container_volume | 236 |
| creator | Zhao, Zhirui Li, Xing Liu, Mingfang Li, Xingchen Gao, Haoze Hao, Lina |
| description | The upper-limb exoskeleton is capable of enhancing human arm strength beyond normal levels, whereas deriving the operator’s desired action straightforward turns out to be one of the significant difficulties facing human-robot interaction research. In the study, the human-robot interface was presented to regulate the exoskeleton tracking human elbow motion trajectory that employed the contact force signals between the exoskeleton and its operator as the primary means of information transportation. The signals were recorded by adopting the novel soft skin sensors attached to the bracket on the exoskeleton linkage, which could reflect the human arm motion intention through the virtual admittance model and adaptive control. Subsequently, a 1-DOF upper-limb exoskeleton was designed to illustrate the performance of the proposed sensor and the interaction control method in the human-robot cooperation experiment. |
| doi_str_mv | 10.1177/09544062211035801 |
| format | Article |
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In the study, the human-robot interface was presented to regulate the exoskeleton tracking human elbow motion trajectory that employed the contact force signals between the exoskeleton and its operator as the primary means of information transportation. The signals were recorded by adopting the novel soft skin sensors attached to the bracket on the exoskeleton linkage, which could reflect the human arm motion intention through the virtual admittance model and adaptive control. Subsequently, a 1-DOF upper-limb exoskeleton was designed to illustrate the performance of the proposed sensor and the interaction control method in the human-robot cooperation experiment.</description><identifier>ISSN: 0954-4062</identifier><identifier>EISSN: 2041-2983</identifier><identifier>DOI: 10.1177/09544062211035801</identifier><language>eng</language><publisher>London, England: SAGE Publications</publisher><subject>Adaptive control ; Contact force ; Control methods ; Elbow (anatomy) ; Electrical impedance ; Exoskeletons ; Human engineering ; Human motion ; Man-machine interfaces ; Robots</subject><ispartof>Proceedings of the Institution of Mechanical Engineers. 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Subsequently, a 1-DOF upper-limb exoskeleton was designed to illustrate the performance of the proposed sensor and the interaction control method in the human-robot cooperation experiment.</description><subject>Adaptive control</subject><subject>Contact force</subject><subject>Control methods</subject><subject>Elbow (anatomy)</subject><subject>Electrical impedance</subject><subject>Exoskeletons</subject><subject>Human engineering</subject><subject>Human motion</subject><subject>Man-machine interfaces</subject><subject>Robots</subject><issn>0954-4062</issn><issn>2041-2983</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><recordid>eNp1UDtPwzAQthBIlMIPYLPEnOJHHCdjVQFFqsQCc2TH5zZtagc7QfDvcVQkBsQtd6fvcboPoVtKFpRKeU8qkeekYIxSwkVJ6BmaMZLTjFUlP0ezCc8mwiW6inFPUrFCzFC9xM5_QId341G5LHjtB9y6AYJVDWCtIhjsHY7eDjge2jSBiz5gA7HdugTatAw7wGPfQ8i69qgxfPp4gA4G767RhVVdhJufPkdvjw-vq3W2eXl6Xi03WcMpG7JSE2m4srQotZSiEOkP0xhNGBOaAKmIFsZwaSBvmKU5gGWMM8IVlXluKj5HdyffPvj3EeJQ7_0YXDpZsyKZlVLIiUVPrCb4GAPYug_tUYWvmpJ6yrH-k2PSLE6aqLbw6_q_4Bsuy3IX</recordid><startdate>20220101</startdate><enddate>20220101</enddate><creator>Zhao, Zhirui</creator><creator>Li, Xing</creator><creator>Liu, Mingfang</creator><creator>Li, Xingchen</creator><creator>Gao, Haoze</creator><creator>Hao, Lina</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><orcidid>https://orcid.org/0000-0001-8775-9631</orcidid></search><sort><creationdate>20220101</creationdate><title>A novel human-robot interface based on soft skin sensor designed for the upper-limb exoskeleton</title><author>Zhao, Zhirui ; Li, Xing ; Liu, Mingfang ; Li, Xingchen ; Gao, Haoze ; Hao, Lina</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c312t-8b07d3af168b77565211dcdb0225b0e090b5dd37de4c2f14eef223203a1744d93</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Adaptive control</topic><topic>Contact force</topic><topic>Control methods</topic><topic>Elbow (anatomy)</topic><topic>Electrical impedance</topic><topic>Exoskeletons</topic><topic>Human engineering</topic><topic>Human motion</topic><topic>Man-machine interfaces</topic><topic>Robots</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Zhao, Zhirui</creatorcontrib><creatorcontrib>Li, Xing</creatorcontrib><creatorcontrib>Liu, Mingfang</creatorcontrib><creatorcontrib>Li, Xingchen</creatorcontrib><creatorcontrib>Gao, Haoze</creatorcontrib><creatorcontrib>Hao, Lina</creatorcontrib><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><jtitle>Proceedings of the Institution of Mechanical Engineers. 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| ispartof | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science, 2022-01, Vol.236 (1), p.566-578 |
| issn | 0954-4062 2041-2983 |
| language | eng |
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| source | SAGE Journals |
| subjects | Adaptive control Contact force Control methods Elbow (anatomy) Electrical impedance Exoskeletons Human engineering Human motion Man-machine interfaces Robots |
| title | A novel human-robot interface based on soft skin sensor designed for the upper-limb exoskeleton |
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