SGER: Impact Modeling and Control for Human Robot Interaction

这个SGER项目的动机是研究机器人为不断发展的人机交互（HRI）任务（如机器人康复和机器人医学成像应用）提供受控冲击力的能力。这个项目的工作将集中在模型开发和机器人系统与可变形表面之间的碰撞模型的实验验证上。这些模型将包括在新的控制设计中，使机器人能够迅速从非接触过渡到与人体组织幻影接触。不像不连续和无限刚性？硬对硬？为制造应用开发的冲击模型，本项目中的连续冲击模型将针对具有可变形组织的机器人的冲击。因此，可以开发出在控制设计中包含冲击动力学的新型连续控制器。在这个项目中提出的实验将用于支持传授可控冲击力的想法。SGER的科学成果和随后的努力将为人类和机器人共享一个共同的工作信封（接触是有益的）的新应用提供突破口。

Motivation for this SGER project is to examine the ability of a robot to deliver a controlled impact force for evolving human-robot-interaction (HRI) tasks such as robotic rehabilitation and robotic medical imaging applications. Efforts in this project will focus on model development and experimental verification of impact models between a robotic system and a deformable surface. These models will be included in new control designs to enable a robot to rapidly transition from non-contact to contact with a human tissue phantom. Unlike discontinuous and infinitely rigid ?hard-on-hard? impact models developed for manufacturing applications, the continuous impact models in this project will target impact of a robot with deformable tissue. As a result new continuous controllers can be developed that include the impact dynamics in the control design. The experiments proposed in this project will be used to support the idea of imparting controlled impact forces. The scientific outcomes of the SGER and subsequent efforts will provide an inroad to new applications where humans and robots share a common working envelope where contact is beneficial.