A framework of human impedance estimation for human-robot interaction

Luo, Jing, Liu, Chao, Li, Yanan and Yang, Chenguang (2019) A framework of human impedance estimation for human-robot interaction. The 25th International Conference on Automation and Computing (ICAC'19), Lancaster, UK, 5 - 7 September, 2019. Published in: 2019 25th International Conference on Automation and Computing (ICAC). Institute of Electrical and Electronics Engineers ISBN 9781861376657

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Abstract

A framework for estimating the human impedance is proposed in this paper. In physical human-robot interaction
(pHRI), safety and human acceptance are key issues when
humans directly interact with the robots. In order to guarantee the safety and improve performance in pHRI, it is important to estimate the dynamics and intention of the human hand. In this work, we consider that a human subject physically contacts with a force sensor when a haptic device sets force in the proposed framework. The measured force, the surface electromyographic signal and the motion of the hand are used to estimate the parameters of human forearm’s impedance. The effectiveness of the proposed framework is demonstrated by experimental results.

Item Type: Conference Proceedings
Additional Information: This work was partially supported by National Nature Science Foundation (NSFC) under Grants 61861136009 and 61811530281.
Keywords: surface electromyographic signal (sEMG), human intention, physical human-robot interaction (pHRI), impedance parameters.
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Lucy Arnold
Date Deposited: 07 Aug 2019 10:13
Last Modified: 13 Feb 2020 13:45
URI: http://sro.sussex.ac.uk/id/eprint/85340

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