SGER: Impact Modeling and Control for Human Robot Interaction

这个SGER项目的动机是研究机器人提供可控冲击力的能力，以实现不断发展的人机交互（HRI）任务，如机器人康复和机器人医疗成像应用。该项目的工作重点是机器人系统与可变形表面之间的碰撞模型的模型开发和实验验证。这些模型将包括在新的控制设计中，使机器人能够快速从非接触过渡到与人体组织模型接触。不像不连续和无限刚性？硬对硬在为制造应用开发的连续冲击模型中，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，可以开发新的连续控制器，包括在控制设计中的冲击动力学。在这个项目中提出的实验将被用来支持的想法，赋予控制的冲击力。SGER的科学成果和后续工作将为人类和机器人共享一个共同的工作环境的新应用提供一条道路，在这个环境中，接触是有益的。

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.