Detecting Human Intention in Physical human robot interaction

Detecting Human Intention in Physical human robot interaction

Jonkman, J.A.

Erden, M.S. (mentor)
Tomiyama, T. (mentor)

Mechanical, Maritime and Materials Engineering

Biomechanical Engineering

2009-10-21

Human assist robotic systems cooperate with human for performing a task. In human power amplifying systems, human and robot interact physically and the robotic arm augments the force of the human, while he still perceives a part of the mass of the controlled object. Human skill and robotic power are combined into one system and due to the human control a flexible robotic systems is obtained. This research aims at detecting human intention in static physical human robot interaction, by observing the changes of manipulator joint torques, due to human interference, and translates these into an end point force vector called “human intention”. To avoid expensive 3D force sensors, an eddy current sensor technique is used to observe torque fluctuations in the joint actuators. This enables physical interaction from anywhere on the robot instead of solely to the tip, where the force sensor would be placed. The project includes designing a human-robot interface system, in which the position controlled robotic manipulator, is physically interacting with its human controller by adapting to his intended movements.

physical human robot interaction

http://resolver.tudelft.nl/uuid:e86d12c4-3185-499b-b1f5-2767086ca45d

Student theses

master thesis

(c) 2009 Jonkman, J.A.