A grasp-based passivity signature for haptics-enabled human-robot interaction: Application to design of a new safety mechanism for robotic rehabilitation
A grasp-based passivity signature for haptics-enabled human-robot interaction: Application to design of a new safety mechanism for robotic rehabilitation
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DOI：
10.1177/0278364916689139
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发表时间：
2017-06-01
影响因子：
9.2
通讯作者：
Patel, Rajni V.
中科院分区：
文献类型：
--
作者：
Atashzar, Seyed Farokh;Shahbazi, Mahya;Patel, Rajni V.
本文分析了人-机器人交互过程中人体上肢吸收物理交互能量的生物力学能力。结果是一个图形化的地图，可以定量相关的程度把握压力和几何形状的相互作用的手被动的程度。为此，对11名健康受试者进行了用户研究，以表征其手臂和手腕的能量吸收能力。上述相关性在统计学上得到验证。所识别的用户特定的基于抓握的被动签名图可以用作评估上肢在吸收相互作用能量中的生物力学能力的图形工具。在本文中，所提出的基于抓取的被动签名地图是利用在一个新的稳定器的触觉系统的设计，考虑到在触觉任务执行过程中的能量吸收的变化。目标是优化触觉系统保真度，同时保证人机交互的稳定性，尽管可能存在延迟和非被动环境。该控制器被称为基于抓取的无源性特征图稳定器。如果用户在交互过程中提供最小或没有能量吸收，控制器会使力反射门变紧以保证稳定性。然而，当用户表现出吸收相互作用能量的高能力时，控制器允许力被反映。基于抓取的被动签名地图稳定器是触觉/遥操作机器人系统的传统稳定器和康复系统中的固定保守力限制的替代方案，其中患者-机器人交互安全是至关重要的要求。这为这项工作提供了实际的动机。给出了实验结果。
In this paper, the biomechanical capability of the human upper limb in absorbing physical interaction energy during human-robot interaction is analyzed. The outcome is a graphical map that can quantitatively correlate the extent of the grasp pressure and the geometry of interaction to the extent of hand passivity. For this purpose, a user study has been conducted for 11 healthy human subjects to characterize the energy absorption capability in their arm and wrist. The above correlation is statistically validated. The identified user-specific grasp-based passivity signature map can be used as a graphical tool to assess the biomechanical capabilities of the upper limb in absorbing interaction energy. In this paper, the proposed grasp-based passivity signature map is utilized in the design of a new stabilizer for haptic systems, that takes into account the variation in energy absorption during haptic task execution. The goal is to optimize the haptic system fidelity while guaranteeing human-robot interaction stability despite the potential existence of delays and a non-passive environment. The controller is termed grasp-based passivity signature map stabilizer. If the user provides minimum to no energy absorption during the interaction, the controller makes the force reflection gate tight to guarantee stability. However, when the user demonstrates high capability in absorbing interaction energy, the controller allows the forces to be reflected. The grasp-based passivity signature map stabilizer is an alternative for both conventional stabilizers of haptic/telerobotic systems and fixed conservative force limits in rehabilitation systems where patient-robot interaction safety is a crucial requirement. This provides the practical motivation for this work. Experimental results are presented.