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Fortineau V, Siegler IA, Makarov M, Rodriguez-Ayerbe P. Human arm endpoint-impedance in rhythmic human-robot interaction exhibits cyclic variations. PLoS One 2023; 18:e0295640. [PMID: 38096319 PMCID: PMC10721195 DOI: 10.1371/journal.pone.0295640] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/08/2022] [Accepted: 11/28/2023] [Indexed: 12/18/2023] Open
Abstract
Estimating the human endpoint-impedance interacting with a physical environment provides insights into goal-directed human movements during physical interactions. This work examined the endpoint-impedance of the upper limb during a hybrid ball-bouncing task with simulated haptic feedback while participants manipulated an admittance-controlled robot. Two experiments implemented a force-perturbation method to estimate the endpoint parameters of 31 participants. Experimental conditions of the ball-bouncing task were simulated in a digital environment. One experiment studied the influence of the target height, while the other explored the impedance at three cyclic phases of the rhythmic movement induced by the task. The participants' performances were analyzed and clustered to establish a potential influence of endpoint impedance on performance in the ball-bouncing task. Results showed that endpoint-impedance parameters ranged from 45 to 445 N/m, 2.2 to 17.5 Ns/m, and 227 to 893 g for the stiffness, damping, and mass, respectively. Results did not support such a critical role of endpoint impedance in performance. Nevertheless, the three endpoint-impedance parameters described significant variations throughout the arm cycle. The stiffness is linked to a quasi-linear increase, with a maximum value reached before the ball impacts. The observed damping and mass cyclic variations seemed to be caused by geometric and kinematic variations. Although this study reveals rapid and within-cycles variations of endpoint-impedance parameters, no direct relationship between endpoint-impedance values and performance levels in ball-bouncing could be found.
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Affiliation(s)
- Vincent Fortineau
- Laboratoire des signaux et systèmes, CNRS, CentraleSupélec, Université Paris-Saclay, Gif-sur-Yvette, France
- CIAMS, Université Paris-Saclay, Orsay, France
- CIAMS, Université d’Orléans, Orléans, France
- Auctus, Inria, Talence, France
| | - Isabelle A. Siegler
- CIAMS, Université Paris-Saclay, Orsay, France
- CIAMS, Université d’Orléans, Orléans, France
| | - Maria Makarov
- Laboratoire des signaux et systèmes, CNRS, CentraleSupélec, Université Paris-Saclay, Gif-sur-Yvette, France
| | - Pedro Rodriguez-Ayerbe
- Laboratoire des signaux et systèmes, CNRS, CentraleSupélec, Université Paris-Saclay, Gif-sur-Yvette, France
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Automatic Evaluation of the Robotic Production Process for an Aircraft Jet Engine Casing. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12136443] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
This paper investigated the design of a system to monitor the status of the robotic welding process of thin-walled components for an aircraft jet engine. Opportunities to measure and log processing parameters, such as welding speed, current, and voltage, on the existing production cell were taken. The acquired data were processed using elements of descriptive statistics. Obtained indicators were matched with physical inspection results of the weld’s quality. The adopted methodology was used to identify an essential parameter determining the presence of defined weld defects. The developed solution was implemented in the production cell.
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Development of improved coyote optimization with deep neural network for intelligent skill knowledge transfer for human to robot interaction. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS 2022. [DOI: 10.1007/s41315-022-00236-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
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Tang R, Yang Q, Song R. Variable Impedance Control Based on Target Position and Tracking Error for Rehabilitation Robots During a Reaching Task. Front Neurorobot 2022; 16:850692. [PMID: 35308312 PMCID: PMC8927629 DOI: 10.3389/fnbot.2022.850692] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/08/2022] [Accepted: 01/28/2022] [Indexed: 11/13/2022] Open
Abstract
To obtain an anthropomorphic performance in physical human-robot interaction during a reaching task, a variable impedance control (vIC) algorithm with human-like characteristics is proposed in this article. The damping value of the proposed method is varied with the target position as well as through the tracking error. The proposed control algorithm is compared with the impedance control algorithm with constant parameters (IC) and another vIC algorithm, which is only changed with the tracking error (vIC-e). The different control algorithms are validated through the simulation study, and are experimentally implemented on a cable-driven rehabilitation robot. The results show that the proposed vIC can improve the tracking accuracy and trajectory smoothness, and reduce the interaction force at the same time.
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Affiliation(s)
- Rongrong Tang
- The Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Sun Yat-sen University, Guangzhou, China
- The Shenzhen Research Institute, Sun Yat-sen University, Guangzhou, China
| | - Qianqian Yang
- The Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Sun Yat-sen University, Guangzhou, China
- The Shenzhen Research Institute, Sun Yat-sen University, Guangzhou, China
- The School of Mechatronic Engineering, Guangdong Polytechnic Normal University, Guangzhou, China
- *Correspondence: Qianqian Yang
| | - Rong Song
- The Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Sun Yat-sen University, Guangzhou, China
- The Shenzhen Research Institute, Sun Yat-sen University, Guangzhou, China
- Rong Song
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Mixed Reality-Enhanced Intuitive Teleoperation with Hybrid Virtual Fixtures for Intelligent Robotic Welding. APPLIED SCIENCES-BASEL 2021. [DOI: 10.3390/app112311280] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/03/2023]
Abstract
This paper presents an integrated scheme based on a mixed reality (MR) and haptic feedback approach for intuitive and immersive teleoperation of robotic welding systems. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time visual feedback from the robot working space. The proposed robotic tele-welding system features imitative motion mapping from the user’s hand movements to the welding robot motions, and it enables the spatial velocity-based control of the robot tool center point (TCP). The proposed mixed reality virtual fixture (MRVF) integration approach implements hybrid haptic constraints to guide the operator’s hand movements following the conical guidance to effectively align the welding torch for welding and constrain the welding operation within a collision-free area. Onsite welding and tele-welding experiments identify the operational differences between professional and unskilled welders and demonstrate the effectiveness of the proposed MRVF tele-welding framework for novice welders. The MRVF-integrated visual/haptic tele-welding scheme reduced the torch alignment times by 56% and 60% compared to the MRnoVF and baseline cases, with minimized cognitive workload and optimal usability. The MRVF scheme effectively stabilized welders’ hand movements and eliminated undesirable collisions while generating smooth welds.
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Nomberg R, Nisky I. Human-in-the-Loop Stability Analysis of Haptic Rendering With Time Delay by Tracking the Roots of the Characteristic Quasi-Polynomial: The Effect of arm Impedance. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3098934] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Xiao J, Dou S, Zhao W, Liu H. Sensorless Human-Robot Collaborative Assembly Considering Load and Friction Compensation. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3088789] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Abstract
This article describes an algorithm for the online extrapolation of hand-motion during remote welding. The aim is to overcome the spatial limitations of the human welder’s arms in order to cover a larger workspace with a continuous weld seam and to substantially relieve the welder from strain and fatigue. Depending on the sampled hand-motion data, an extrapolation of the given motion patterns is achieved by decomposing the input signals in a linear direction and a periodic motion component. An approach to efficiently determine the periodicity using a sampled autocorrelation function and the subsequent application of parameter identification using a spline function are presented in this paper. The proposed approach is able to resemble all practically relevant motion patterns and has been validated successfully on a remote welding system with limited input space and audio-visual feedback by an experienced welder.
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Gawali MB, Gawali SS. Optimized skill knowledge transfer model using hybrid Chicken Swarm plus Deer Hunting Optimization for human to robot interaction. Knowl Based Syst 2021. [DOI: 10.1016/j.knosys.2021.106945] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
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An Intuitive Formulation of the Human Arm Active Endpoint Stiffness. SENSORS 2020; 20:s20185357. [PMID: 32962084 PMCID: PMC7570772 DOI: 10.3390/s20185357] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/21/2020] [Revised: 08/31/2020] [Accepted: 09/14/2020] [Indexed: 11/16/2022]
Abstract
In this work, we propose an intuitive and real-time model of the human arm active endpoint stiffness. In our model, the symmetric and positive-definite stiffness matrix is constructed through the eigendecomposition Kc=VDVT, where V is an orthonormal matrix whose columns are the normalized eigenvectors of Kc, and D is a diagonal matrix whose entries are the eigenvalues of Kc. In this formulation, we propose to construct V and D directly by exploiting the geometric information from a reduced human arm skeleton structure in 3D and from the assumption that human arm muscles work synergistically when co-contracted. Through the perturbation experiments across multiple subjects under different arm configurations and muscle activation states, we identified the model parameters and examined the modeling accuracy. In comparison to our previous models for predicting human active arm endpoint stiffness, the new model offers significant advantages such as fast identification and personalization due to its principled simplicity. The proposed model is suitable for applications such as teleoperation, human–robot interaction and collaboration, and human ergonomic assessments, where a personalizable and real-time human kinodynamic model is a crucial requirement.
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Li Y, Eden J, Carboni G, Burdet E. Improving Tracking through Human-Robot Sensory Augmentation. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2998715] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Börner H, Endo S, Hirche S. Estimation of Involuntary Components of Human Arm Impedance in Multi-Joint Movements via Feedback Jerk Isolation. Front Neurosci 2020; 14:459. [PMID: 32523504 PMCID: PMC7261941 DOI: 10.3389/fnins.2020.00459] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/31/2019] [Accepted: 04/15/2020] [Indexed: 11/13/2022] Open
Abstract
Stable and efficient coordination in physical human-robot interaction requires consideration of human feedback behavior. In unpredictable tasks, where voluntary cognitive feedback is too slow to guarantee desired task execution, the human must rely on involuntary intrinsic and reflexive feedback. The combined effects of these two feedback mechanisms and the inertial characteristics can be summarized in the involuntary impedance components. In this work, we present a method for the estimation of the involuntary impedance components of the human arm in multi-joint movements. We apply force perturbations to evoke feedback jerks that can be isolated using a high pass filter and limit the duration of the estimation interval to guarantee exclusion of voluntary cognitive feedback. Dynamic regressor representation of the rigid body dynamics of the arm and first order Taylor series expansion of the feedback behavior yield a model that is linear in the involuntary impedance components. The constant values of the inertial parameters are estimated in a static posture maintenance task and subsequently inserted to estimate the remaining components in a dynamic movement task. The method is validated with simulated data of a neuromechanical model of the human arm and its performance is compared to established methods from the literature. The results of the validation demonstrate superior estimation performance for moderate movement velocities, and less influence of the variability of the movements. The applicability to real data and the plausibility of the limited estimation interval are successfully demonstrated in an experiment with human participants.
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Affiliation(s)
- Hendrik Börner
- Chair of Information-Oriented Control, Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany
| | - Satoshi Endo
- Chair of Information-Oriented Control, Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany
| | - Sandra Hirche
- Chair of Information-Oriented Control, Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany
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Abstract
This article covers the signal processing for a human–robot remote controlled welding application. For this purpose, a test and evaluation system is under development. It allows a skilled worker to weld in real time without being exposed to the associated physical stress and hazards. The torch movement of the welder in typical welding tasks is recorded by a stereoscopic sensor system. Due to a mismatch between the speed of the acquisition and the query rate for data by the robot control system, a prediction has to be developed. It should generate a suitable tool trajectory from the acquired data, which has to be a C 2 -continuous function. For this purpose, based on a frequency analysis, a Kalman-Filter in combination with a disturbance observer is applied. It reproduces the hand movement with sufficient accuracy and lag-free. The required algorithm is put under test on a real-time operating system based on Linux and Preempt_RT in connection to a KRC4 robot controller. By using this setup, the welding results in a plane are of good quality and the robot movement coincides with the manual movement sufficiently.
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Li Y, Zhou X, Zhong J, Li X. Robotic Impedance Learning for Robot-Assisted Physical Training. Front Robot AI 2019; 6:78. [PMID: 33501093 PMCID: PMC7805961 DOI: 10.3389/frobt.2019.00078] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/07/2019] [Accepted: 08/08/2019] [Indexed: 11/25/2022] Open
Abstract
Impedance control has been widely used in robotic applications where a robot has physical interaction with its environment. However, how the impedance parameters are adapted according to the context of a task is still an open problem. In this paper, we focus on a physical training scenario, where the robot needs to adjust its impedance parameters according to the human user's performance so as to promote their learning. This is a challenging problem as humans' dynamic behaviors are difficult to model and subject to uncertainties. Considering that physical training usually involves a repetitive process, we develop impedance learning in physical training by using iterative learning control (ILC). Since the condition of the same iteration length in traditional ILC cannot be met due to human variance, we adopt a novel ILC to deal with varying iteration lengthes. By theoretical analysis and simulations, we show that the proposed method can effectively learn the robot's impedance in the application of robot-assisted physical training.
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Affiliation(s)
- Yanan Li
- Department of Engineering and Design, University of Sussex, Brighton, United Kingdom
| | - Xiaodong Zhou
- Beijing Institute of Control Engineering, Beijing, China
| | - Junpei Zhong
- School of Science and Technology, Nottingham Trent University, Nottingham, United Kingdom
| | - Xuefang Li
- Department of Electrical Engineering, Imperial College of Science, Technology and Medicine, London, United Kingdom
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Wu R, Zhang H, Peng T, Fu L, Zhao J. Variable impedance interaction and demonstration interface design based on measurement of arm muscle co-activation for demonstration learning. Biomed Signal Process Control 2019. [DOI: 10.1016/j.bspc.2019.02.008] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/27/2022]
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Medina JR, Borner H, Endo S, Hirche S. Impedance-Based Gaussian Processes for Modeling Human Motor Behavior in Physical and Non-Physical Interaction. IEEE Trans Biomed Eng 2019; 66:2499-2511. [PMID: 30605092 DOI: 10.1109/tbme.2018.2890710] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
OBJECTIVE Modeling of human motor intention plays an essential role in predictively controlling a robotic system in human-robot interaction tasks. In most machine learning techniques, human motor behavior is modeled as a generic stochastic process. However, the integration of a priori knowledge about underlying system structures can provide insights on otherwise unobservable intrinsic states that yield the superior prediction performance and increased generalization capabilities. METHODS We present a novel method for modeling human motor behavior that explicitly includes a neuroscientifically supported model of human motor control, in which the dynamics of the human arm are modeled by a mechanical impedance that tracks a latent desired trajectory. We adopt a Bayesian setting by defining Gaussian process (GP) priors for the impedance elements and the latent desired trajectory. This enables exploitation of a priori human arm impedance knowledge for regression of interaction forces through inference of a latent desired human trajectory. RESULTS The method is validated using simulated data, with particular focus on effects of GP prior parameterization and intention estimation capabilities. The superior prediction performance is shown with respect to a naive GP prior. An experiment with human participants evaluates generalization capabilities and effects of training data sparsity. CONCLUSION We derive the correlations of an impedance-based GP model of human motor behavior that exploits a priori knowledge. SIGNIFICANCE The model effectively predicts interaction forces by inferring a latent desired human trajectory in previously observed as well as unobserved regions of the input space.
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Erden MS, Billard A. Robotic Assistance by Impedance Compensation for Hand Movements While Manual Welding. IEEE TRANSACTIONS ON CYBERNETICS 2016; 46:2459-2472. [PMID: 26452294 DOI: 10.1109/tcyb.2015.2478656] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/05/2023]
Abstract
In this paper, we present a robotic assistance scheme which allows for impedance compensation with stiffness, damping, and mass parameters for hand manipulation tasks and we apply it to manual welding. The impedance compensation does not assume a preprogrammed hand trajectory. Rather, the intention of the human for the hand movement is estimated in real time using a smooth Kalman filter. The movement is restricted by compensatory virtual impedance in the directions perpendicular to the estimated direction of movement. With airbrush painting experiments, we test three sets of values for the impedance parameters as inspired from impedance measurements with manual welding. We apply the best of the tested sets for assistance in manual welding and perform welding experiments with professional and novice welders. We contrast three conditions: 1) welding with the robot's assistance; 2) with the robot when the robot is passive; and 3) welding without the robot. We demonstrate the effectiveness of the assistance through quantitative measures of both task performance and perceived user's satisfaction. The performance of both the novice and professional welders improves significantly with robotic assistance compared to welding with a passive robot. The assessment of user satisfaction shows that all novice and most professional welders appreciate the robotic assistance as it suppresses the tremors in the directions perpendicular to the movement for welding.
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