SGER: Impact Modeling and Control for Human Robot Interaction

该SGER项目的动机是检查机器人为不断发展的人-机器人交互(HRI)任务提供受控冲击力的能力，例如机器人康复和机器人医学成像应用。该项目的工作将集中在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上。这些模型将被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体模接触。不像不连续的和无限僵硬的？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的连续控制器。这个项目中提出的实验将被用来支持赋予受控冲击力的想法。SGER的科学成果和随后的努力将为人类和机器人共享共同工作信封的新应用提供一条道路，其中接触是有益的。

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.