TY - GEN
T1 - Stiffness based stability enhancement in human-robot collaboration
AU - Jujjavarapu, Sri Sadhan
AU - Esfahani, Ehsan T.
N1 - Publisher Copyright:
Copyright © 2019 ASME.
PY - 2019
Y1 - 2019
N2 - This paper presents the importance of endpoint stiffness and its role in improving the interaction stability of a human-robot collaborative task. A low effort collaborative task is simulated with the help of an admittance controlled robot. The performance of this robot for different levels of grasp stiffness are compared and a solution in the form of a Variable Stiffness Mechanism is provided. This mechanism provides an opportunity to modify the stiffness at the port of interaction based on two measures, an instability index in the frequency domain, and human muscle contraction in the time domain. Experimental results show an improvement in the performance and stability for the system with high stiffness vs low stiffness. Human muscle contraction provides a time instant at which the stiffness has to be modified and the instability index value provides information about the direction in which the stiffness has to be modified.
AB - This paper presents the importance of endpoint stiffness and its role in improving the interaction stability of a human-robot collaborative task. A low effort collaborative task is simulated with the help of an admittance controlled robot. The performance of this robot for different levels of grasp stiffness are compared and a solution in the form of a Variable Stiffness Mechanism is provided. This mechanism provides an opportunity to modify the stiffness at the port of interaction based on two measures, an instability index in the frequency domain, and human muscle contraction in the time domain. Experimental results show an improvement in the performance and stability for the system with high stiffness vs low stiffness. Human muscle contraction provides a time instant at which the stiffness has to be modified and the instability index value provides information about the direction in which the stiffness has to be modified.
UR - https://www.scopus.com/pages/publications/85076461293
U2 - 10.1115/DETC2019-98506
DO - 10.1115/DETC2019-98506
M3 - Conference contribution
AN - SCOPUS:85076461293
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 43rd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Y2 - 18 August 2019 through 21 August 2019
ER -