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Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI

In physical Human–Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a human and a robot using a gripper with propriocept...

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Autores principales: Ballesteros, Joaquin, Pastor, Francisco, Gómez-de-Gabriel, Jesús M., Gandarias, Juan M., García-Cerezo, Alfonso J., Urdiales, Cristina
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7287610/
https://www.ncbi.nlm.nih.gov/pubmed/32443547
http://dx.doi.org/10.3390/s20102863
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author Ballesteros, Joaquin
Pastor, Francisco
Gómez-de-Gabriel, Jesús M.
Gandarias, Juan M.
García-Cerezo, Alfonso J.
Urdiales, Cristina
author_facet Ballesteros, Joaquin
Pastor, Francisco
Gómez-de-Gabriel, Jesús M.
Gandarias, Juan M.
García-Cerezo, Alfonso J.
Urdiales, Cristina
author_sort Ballesteros, Joaquin
collection PubMed
description In physical Human–Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a human and a robot using a gripper with proprioceptive sensing. Specifically, we measure forces exerted by a human limb grabbed by an underactuated gripper in a frontal plane using only the gripper’s own sensors. This is achieved via a regression method, trained with experimental data from the values of the phalanx angles and actuator signals. The proposed method is intended for adaptive shared control in limb manipulation. Although adding force sensors provides better performance, the results obtained are accurate enough for this application. This approach requires no additional hardware: it relies uniquely on the gripper motor feedback—current, position and torque—and joint angles. Also, it is computationally cheap, so processing times are low enough to allow continuous human-adapted pHRI for shared control.
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spelling pubmed-72876102020-06-15 Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI Ballesteros, Joaquin Pastor, Francisco Gómez-de-Gabriel, Jesús M. Gandarias, Juan M. García-Cerezo, Alfonso J. Urdiales, Cristina Sensors (Basel) Article In physical Human–Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a human and a robot using a gripper with proprioceptive sensing. Specifically, we measure forces exerted by a human limb grabbed by an underactuated gripper in a frontal plane using only the gripper’s own sensors. This is achieved via a regression method, trained with experimental data from the values of the phalanx angles and actuator signals. The proposed method is intended for adaptive shared control in limb manipulation. Although adding force sensors provides better performance, the results obtained are accurate enough for this application. This approach requires no additional hardware: it relies uniquely on the gripper motor feedback—current, position and torque—and joint angles. Also, it is computationally cheap, so processing times are low enough to allow continuous human-adapted pHRI for shared control. MDPI 2020-05-18 /pmc/articles/PMC7287610/ /pubmed/32443547 http://dx.doi.org/10.3390/s20102863 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Ballesteros, Joaquin
Pastor, Francisco
Gómez-de-Gabriel, Jesús M.
Gandarias, Juan M.
García-Cerezo, Alfonso J.
Urdiales, Cristina
Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI
title Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI
title_full Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI
title_fullStr Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI
title_full_unstemmed Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI
title_short Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI
title_sort proprioceptive estimation of forces using underactuated fingers for robot-initiated phri
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7287610/
https://www.ncbi.nlm.nih.gov/pubmed/32443547
http://dx.doi.org/10.3390/s20102863
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