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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...

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Detalles Bibliográficos
Autores principales: Dong, Lin, Perrin, Nicolas, Richer, Florian, Roby‐Brami, Agnes, Morel, Guillaume
Formato: Online Artículo Texto
Lenguaje:English
Publicado: John Wiley and Sons Inc. 2022
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.
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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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