Preliminary result on passivity boundary of inertia scaling control for human interactive robot

We present a preliminary result on a minimum inertia scale factor that can be passively implemented into a human-robot interacting system. We model the robot including essential system components (e.g. force sensor dynamics and digital controller), and we analyze the energetics of this model using the frequency property of the human force. The resulting passivity condition is verified by simulations.

[1]  J. Edward Colgate,et al.  Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation , 2011, Int. J. Robotics Res..

[2]  Dongjun Lee,et al.  Improving transparency of virtual coupling for haptic interaction with human force observer , 2017, Robotica.

[3]  Neville Hogan,et al.  An analysis of contact instability in terms of passive physical equivalents , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[4]  Hong Z. Tan,et al.  HUMAN FACTORS FOR THE DESIGN OF FORCE-REFLECTING HAPTIC INTERFACES , 1994 .

[5]  Angel Rubio,et al.  Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward , 2009, IEEE Transactions on Control Systems Technology.

[6]  T. L. Brooks,et al.  Telerobotic response requirements , 1990, 1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings.