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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...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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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. |
format | Online Article Text |
id | pubmed-7287610 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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