Position-Force Domain Passivity of the Human Arm in Telerobotic Systems
Position-Force Domain Passivity of the Human Arm in Telerobotic Systems
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DOI：
10.1109/tmech.2018.2793877
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发表时间：
2018-01
期刊：
影响因子：
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通讯作者：
Mahya Shahbazi;S. F. Atashzar;M. Tavakoli;Rajni V. Patel
中科院分区：
文献类型：
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作者：
Mahya Shahbazi;S. F. Atashzar;M. Tavakoli;Rajni V. Patel
为了保证单主/单从遥操作系统中的安全人机交互，传统的基于无源性的控制器在速度-力域（VD）中对通信延迟进行补偿，并假设人的手臂是无源的。同样的控制器也可以在位置-力域（PD）中对延迟的通信通道进行无源化，这为诸如多主/单从系统的更复杂的情况提供了方便的无位置漂移的控制策略。然而，这将仅在操作者的手臂在PD中也保持被动的情况下起作用。手臂在PD中是否保持被动是一个尚未回答的关键问题。在本文中，被动的人的手臂在PD的调查，通过数学分析，实验和统计用户研究，涉及12个科目和48个试验。结果表明，与VD中不同，人类操作员不会在PD中对所有频率范围保持被动。这意味着需要适当的控制策略，使人类操作员终止被动的PD。对于合适的控制器的未来设计，进行统计分析以调查人类参与者的左臂和右臂的PD被动性水平之间的相关性，以及受试者的手臂的被动性水平和他们的身体特征，例如，体重身高和体重指数可能的控制策略，通过该操作终止的被动性可以保证进行了讨论。
In order to guarantee safe human–robot interaction in single-master/single-slave teleoperation systems, passivity-based controllers have traditionally been developed for communication delay compensation in the velocity-force domain (VD) with the assumption of passivity of the human arm. The same controllers can also make the delayed communication channel passive in the position-force domain (PD), which provides a convenient position-drift-free control strategy for more complicated scenarios such as multi-master/single-slave systems. This would, however, only work if the operator's arm also remains passive in the PD. Whether the arm remains passive in the PD is a critical question yet to be answered. In this paper, passivity of the human arm in the PD is investigated through mathematical analysis, experimentation, and statistical user studies involving 12 subjects and 48 trials. It is shown that unlike in the VD, the human operator will not remain passive in the PD for all frequency ranges. This implies the need for appropriate control strategies to make the human operator termination passive in the PD. For future design of suitable controllers, statistical analyses are performed to investigate correlations between the levels of PD passivity of the left and the right arms of the human participants, as well as the levels of passivity of the subjects’ arms and their physical characteristics, e.g., weight, height, and body mass index. Possible control strategies through which the passivity of the operator termination can be guaranteed are also discussed.