Variable Admittance Control Based on Trajectory Prediction of Human Hand Motion for Physical Human-Robot Interaction

Wang, Yu1,2; Yang, Yuanyuan2; Zhao, Baoliang2; Qi, Xiaozhi2; Hu, Ying2; Li, Bing1; Sun, Lining3; Zhang, Lihai4; Meng, Max Q-H5

2021-06-01

10.3390/app11125651

APPLIED SCIENCES-BASEL   影响因子和分区

2076-3417

In order to achieve effective physical human-robot interaction, human dynamic characteristics needs to be considered in admittance control. This paper proposes a variable admittance control method for physical human-robot interaction based on trajectory prediction of human hand motion. By predicting the moving direction of the robot end tool under human guidance, the admittance control parameters are adjusted to reduce the interaction force. The end tool trajectory of the robot under human guidance is used for offline training of long and short-term memory neural network to generate trajectory predictors. Then the trajectory predictors are used in variable admittance control to predict the trajectory and movement direction of the robot end tool in real time. The variable admittance controller adjusts the damping matrix to reduce the damping value in the moving direction. Experiment results show that, using the constant admittance method as a benchmark, the interaction force of the proposed method is reduced by 23%, the trajectory error is reduced by 51%, and the operating jerk is reduced by at least 21%, which proves that the proposed method improves the accuracy and compliance of the operation.

physical human-robot interaction compliance control medical robots and systems variable admittance control human motion prediction long short-term memory network

SCI

英语

其他

Key-Area Research and Development Program of Guangdong Province["2019B090915001","2020B0909020002"] ; National Natural Science Foundation of China[U1713218] ; Shenzhen Fundamental Research Funds["JCYJ20180507182215361","JCYJ20190807170407391"]

Chemistry ; Engineering ; Materials Science ; Physics

Chemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied

WOS:000665931200001

MDPI

Web of Science

1.Harbin Inst Technol, Shenzhen 518055, Peoples R China
2.Chinese Acad Sci, Shenzhen Inst Adv Technol, Shenzhen Key Lab Minimally Invas Surg Robot & Sys, Shenzhen 518055, Peoples R China
3.Soochow Univ, Coll Mech & Elect Engn, Suzhou 215000, Peoples R China
4.Chinese Peoples Liberat Army Gen Hosp, Dept Orthopaed, Beijing 100853, Peoples R China
5.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen 518055, Peoples R China

Wang, Yu,Yang, Yuanyuan,Zhao, Baoliang,et al. Variable Admittance Control Based on Trajectory Prediction of Human Hand Motion for Physical Human-Robot Interaction[J]. APPLIED SCIENCES-BASEL,2021,11(12).

Wang, Yu.,Yang, Yuanyuan.,Zhao, Baoliang.,Qi, Xiaozhi.,Hu, Ying.,...&Meng, Max Q-H.(2021).Variable Admittance Control Based on Trajectory Prediction of Human Hand Motion for Physical Human-Robot Interaction.APPLIED SCIENCES-BASEL,11(12).

Wang, Yu,et al."Variable Admittance Control Based on Trajectory Prediction of Human Hand Motion for Physical Human-Robot Interaction".APPLIED SCIENCES-BASEL 11.12(2021).