Citation

BibTex format

@article{Bowyer:2015:10.1109/TRO.2015.2477956,
author = {Bowyer, SA and Rodriguez, y Baena F},
doi = {10.1109/TRO.2015.2477956},
journal = {IEEE Transactions on Robotics},
pages = {1281--1293},
title = {Dissipative control for physical human-robot interaction},
url = {http://dx.doi.org/10.1109/TRO.2015.2477956},
volume = {31},
year = {2015}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - Physical human-robot interaction is fundamental toexploiting the capabilities of robots in tasks and environmentswhere robots have limited cognition or comprehension, and isvirtually ubiquitous for robotic manipulation in highly unstructuredenvironments, as are found in surgery. A critical aspect ofphysical human-robot interaction in these cases is controlling therobot so that the individual human and robot competencies aremaximised, while guaranteeing user, task and environment safety.Dissipative control precludes dangerous forcing of a shared toolby the robot, ensuring safety; however, it typically suffers frompoor control fidelity, resulting in reduced task accuracy. In thiswork, a novel, rigorously formalised, n-dimensional dissipativecontrol strategy is proposed that employs a new technique called‘energy redirection’ to generate control forces with increasedfidelity while remaining dissipative and safe. Experimental validationof the method, for complete pose control, shows that itachieves a 90 % reduction in task error compared to the currentstate-of-the-art in dissipative control for the tested applications.The findings clearly demonstrate that the method significantlyincreases the fidelity and efficacy of dissipative control duringphysical human-robot interaction. This advancement expandsthe number of tasks and environments into which safe, physicalhuman-robot interaction can be employed effectively.Index Terms—Physical human-robot interaction, impedancecontrol, haptics and haptic interfaces, virtual fixtures, medicalrobots and systems.
AU - Bowyer,SA
AU - Rodriguez,y Baena F
DO - 10.1109/TRO.2015.2477956
EP - 1293
PY - 2015///
SN - 1941-0468
SP - 1281
TI - Dissipative control for physical human-robot interaction
T2 - IEEE Transactions on Robotics
UR - http://dx.doi.org/10.1109/TRO.2015.2477956
UR - http://hdl.handle.net/10044/1/25640
VL - 31
ER -