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The stability investigation of variable viscosity control in the human‐robot interaction
BACKGROUND: For many co‐manipulative applications, variable damping is a valuable feature provided by robots. One approach is implementing a high viscosity at low velocities and a low viscosity at high velocities. This, however, is proven to have the possibility to alter human natural motion perform...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
John Wiley and Sons Inc.
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9539854/ https://www.ncbi.nlm.nih.gov/pubmed/35582733 http://dx.doi.org/10.1002/rcs.2416 |
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author | Dong, Lin Perrin, Nicolas Richer, Florian Roby‐Brami, Agnes Morel, Guillaume |
author_facet | Dong, Lin Perrin, Nicolas Richer, Florian Roby‐Brami, Agnes Morel, Guillaume |
author_sort | Dong, Lin |
collection | PubMed |
description | BACKGROUND: For many co‐manipulative applications, variable damping is a valuable feature provided by robots. One approach is implementing a high viscosity at low velocities and a low viscosity at high velocities. This, however, is proven to have the possibility to alter human natural motion performance. METHODS: We show that the distortion is caused by the viscosity drop resulting in robot's resistance to motion. To address this, a method for stably achieving the desired behaviour is presented. It involves leveraging a first‐order linear filter to slow the viscosity variation down. RESULTS: The proposition is supported by a theoretical analysis using a robotic model. Meanwhile, the user performance in human‐robot experiments gets significantly improved, showing the practical efficiency in real applications. CONCLUSIONS: This paper discusses the variable viscosity control in the context of co‐manipulation. An instability problem and its solution were theoretically shown and experimentally evidenced through human‐robot experiments. |
format | Online Article Text |
id | pubmed-9539854 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | John Wiley and Sons Inc. |
record_format | MEDLINE/PubMed |
spelling | pubmed-95398542022-10-14 The stability investigation of variable viscosity control in the human‐robot interaction Dong, Lin Perrin, Nicolas Richer, Florian Roby‐Brami, Agnes Morel, Guillaume Int J Med Robot Original Articles BACKGROUND: For many co‐manipulative applications, variable damping is a valuable feature provided by robots. One approach is implementing a high viscosity at low velocities and a low viscosity at high velocities. This, however, is proven to have the possibility to alter human natural motion performance. METHODS: We show that the distortion is caused by the viscosity drop resulting in robot's resistance to motion. To address this, a method for stably achieving the desired behaviour is presented. It involves leveraging a first‐order linear filter to slow the viscosity variation down. RESULTS: The proposition is supported by a theoretical analysis using a robotic model. Meanwhile, the user performance in human‐robot experiments gets significantly improved, showing the practical efficiency in real applications. CONCLUSIONS: This paper discusses the variable viscosity control in the context of co‐manipulation. An instability problem and its solution were theoretically shown and experimentally evidenced through human‐robot experiments. John Wiley and Sons Inc. 2022-05-30 2022-10 /pmc/articles/PMC9539854/ /pubmed/35582733 http://dx.doi.org/10.1002/rcs.2416 Text en © 2022 The Authors. The International Journal of Medical Robotics and Computer Assisted Surgery published by John Wiley & Sons Ltd. https://creativecommons.org/licenses/by/4.0/This is an open access article under the terms of the http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. |
spellingShingle | Original Articles Dong, Lin Perrin, Nicolas Richer, Florian Roby‐Brami, Agnes Morel, Guillaume The stability investigation of variable viscosity control in the human‐robot interaction |
title | The stability investigation of variable viscosity control in the human‐robot interaction |
title_full | The stability investigation of variable viscosity control in the human‐robot interaction |
title_fullStr | The stability investigation of variable viscosity control in the human‐robot interaction |
title_full_unstemmed | The stability investigation of variable viscosity control in the human‐robot interaction |
title_short | The stability investigation of variable viscosity control in the human‐robot interaction |
title_sort | stability investigation of variable viscosity control in the human‐robot interaction |
topic | Original Articles |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9539854/ https://www.ncbi.nlm.nih.gov/pubmed/35582733 http://dx.doi.org/10.1002/rcs.2416 |
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