Stability and performance of robotic systems worn by humans
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 558-563 vol.1
- https://doi.org/10.1109/robot.1990.126039
Abstract
The dynamics and control of robotic systems worn by humans are analyzed. General models for the human, the extender, and the interaction between the human and the extender are developed. The stability of the system of human, extender, and object being manipulated is analyzed, and the conditions for stable maneuvers are derived. An expression for the extender performance is defined to quantify the force augmentation. The tradeoff between stability and performance is described. The theoretical predictions are verified experimentally.Keywords
This publication has 9 references indexed in Scilit:
- Extenders: Human Machine Interaction via the Transfer of Power and Information SignalsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Human-robot interaction via the transfer of power and information signalsIEEE Transactions on Systems, Man, and Cybernetics, 1990
- On the Robot Compliant Motion ControlJournal of Dynamic Systems, Measurement, and Control, 1989
- Historical Perspective and State of the Art in Robot Force ControlThe International Journal of Robotics Research, 1987
- Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motionIEEE Journal on Robotics and Automation, 1986
- On the loop transfer recoveryInternational Journal of Control, 1986
- Roboust nonlinear control of robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1985
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985
- Robustness results in linear-quadratic Gaussian based multivariable control designsIEEE Transactions on Automatic Control, 1981