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HUMAN-ROBOT INTERACTIVE SYSTEM HAVING A HUMAN STIFFNESS ESTIMATION CONTROL ALGORITHM

  • US 20110130876A1
  • Filed: 11/30/2009
  • Published: 06/02/2011
  • Est. Priority Date: 11/30/2009
  • Status: Active Grant
First Claim
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1. A robotic system comprising:

  • a robot incorporating powered elements, the robot being adapted for moving a payload using the powered elements during an operation in proportional response to an input force from a human operator;

    an operator-robot interface incorporating a plurality of sensors adapted for measuring a predetermined set of operator input values, including the input force; and

    a controller that is responsive to the input force and adapted for actuating the powered elements, the controller being operable for determining a changing stiffness value of the human operator during the operation using the set of operator input values;

    wherein the controller automatically adjusts a level of control sensitivity over the robot using the changing stiffness value to thereby optimize control stability.

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