Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI.
Sensors (Basel)
; 20(10)2020 May 18.
Article
em En
| MEDLINE
| ID: mdl-32443547
ABSTRACT
In physical Human-Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a human and a robot using a gripper with proprioceptive sensing. Specifically, we measure forces exerted by a human limb grabbed by an underactuated gripper in a frontal plane using only the gripper's own sensors. This is achieved via a regression method, trained with experimental data from the values of the phalanx angles and actuator signals. The proposed method is intended for adaptive shared control in limb manipulation. Although adding force sensors provides better performance, the results obtained are accurate enough for this application. This approach requires no additional hardware it relies uniquely on the gripper motor feedback-current, position and torque-and joint angles. Also, it is computationally cheap, so processing times are low enough to allow continuous human-adapted pHRI for shared control.
Palavras-chave
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Propriocepção
/
Robótica
/
Dedos
Tipo de estudo:
Diagnostic_studies
Limite:
Humans
Idioma:
En
Revista:
Sensors (Basel)
Ano de publicação:
2020
Tipo de documento:
Article
País de afiliação:
Espanha