Carmichael MG, Liu D. Admittance control scheme for implementing model-based assistance-as-needed on a robot.
ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2013;
2013:870-3. [PMID:
24109826 DOI:
10.1109/embc.2013.6609639]
[Citation(s) in RCA: 17] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
A model-based assistance-as-needed paradigm has been developed to govern the assistance provided by an assistive robot to its operator. This paradigm has advantages over existing methods of providing assistance-as-needed for applications such as robotic rehabilitation. However, implementation of the model-based paradigm requires a control scheme to be developed which controls the robot so as to provide the assistance calculated by the model-based paradigm to its operator. In this paper an admittance control scheme for providing model-based assistance-as-needed is presented. It is developed considering its suitability for human-robot interaction, and its role within the model-based assistance-as-needed framework. Results from the control implemented on an example robot showed it is capable of providing the operator with the desired level of assistance as governed by the model-based paradigm. This is an essential requirement for the paradigm to be capable of providing efficacious assistance-as-needed in applications such as robotic rehabilitation.
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