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Stability analysis for a passive/active human model in physical human–robot interaction with multiple users.
- Source :
-
International Journal of Control . Sep2020, Vol. 93 Issue 9, p2104-2119. 16p. - Publication Year :
- 2020
-
Abstract
- Human–robot–human interaction (HRH), understood as a physical human–robot interaction (pHRI) with two humans, can be applied when lifting heavy, bulky and large-sized objects with a robot. In combination with a virtual environment, this system can become nonlinear. In this article, we prove sufficient stability conditions for a stationary point of such a particular type of nonlinear multiple time-delay systems. In addition, a new human model consisting of a passive and an active part will be introduced and validated on experimental data. The derived stability conditions are applied to a single-user pHRI system including this human model. The results indicate that these conditions are very conservative. Then four approaches for the analysis of a multi-user pHRI are introduced and compared with each other. Finally, a potential HRH application with a nonlinear environment in the form of a potential force field is presented. [ABSTRACT FROM AUTHOR]
- Subjects :
- *HUMAN-robot interaction
*VIRTUAL reality
*IMPEDANCE control
Subjects
Details
- Language :
- English
- ISSN :
- 00207179
- Volume :
- 93
- Issue :
- 9
- Database :
- Academic Search Index
- Journal :
- International Journal of Control
- Publication Type :
- Academic Journal
- Accession number :
- 145107084
- Full Text :
- https://doi.org/10.1080/00207179.2018.1541508