By Arash Ajoudani
This booklet introduces novel considering and methods to the keep an eye on of robot manipulation. specifically, the idea that of teleimpedance keep an eye on as a substitute solution to bilateral force-reflecting teleoperation keep an eye on for robot manipulation is brought. In teleimpedance keep watch over, a compound reference command is distributed to the slave robotic together with either the specified movement trajectory and impedance profile, that are then discovered via the distant controller. this idea kinds a foundation for the improvement of the controllers for a robot arm, a dual-arm setup, a synergy-driven robot hand, and a compliant exoskeleton for better interplay performance.
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Additional info for Transferring Human Impedance Regulation Skills to Robots
The subject was asked to apply constant forces of ±5 N, ±10 N and ±20 N, respectively, along 6 directions (±x, ±y and ±z) while holding the handle (isometric conditions). Force components applied by the subject were measured and shown in real time to the subject himself in the form of a graph with three colored bars on a screen. In each trial, the subject was instructed to apply forces so that bars reached and maintained given targets (corresponding in turns to the three different intensities in the 3 different directions).
2c demonstrates typical results from third experiment. 6 s). 4 demonstrate the experimental results obtained with application of teleimpedance control. In this experiment the operator guides the peg to the hole area keeping the arm in a natural, low stiffness profile.
1 Stiffness ellipses during posture maintenance of subjects A, B, and C A B C Fig. 2 Stiffness ellipses (upper figures) and joint stiffness values (lower figures) of shoulder (Rss , continuous curve), elbow (Ree , dotted curve), and double-joints (Rse , dashed-dotted curve; Res , dashed curve) during transverse multi-joint movements for subjects A, B, and C of the endpoint stiffness ellipsoids in static postures, where such variation during dynamic movements are depicted in Fig. 2. Results are inserted from .
Transferring Human Impedance Regulation Skills to Robots by Arash Ajoudani