Human-robot interactive system having a human stiffness estimation control algorithm
First Claim
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 pair of handle bars and a plurality of sensors which collectively measure a predetermined set of operator input values, wherein the plurality of sensors includes a pair of sensors each positioned on a respective one of the handlebars and configured to measure the input force; and
a controller that is responsive to the input force and configured to actuate the powered elements by measuring a baseline stiffness value of the human operator as a minimum, equilibrium, or relaxed stiffness value, and calculating a change in the baseline 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 change in the baseline stiffness value of the human operator to thereby optimize control stability.
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Abstract
A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.
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Citations
20 Claims
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1. A robotic system comprising:
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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 pair of handle bars and a plurality of sensors which collectively measure a predetermined set of operator input values, wherein the plurality of sensors includes a pair of sensors each positioned on a respective one of the handlebars and configured to measure the input force; and a controller that is responsive to the input force and configured to actuate the powered elements by measuring a baseline stiffness value of the human operator as a minimum, equilibrium, or relaxed stiffness value, and calculating a change in the baseline 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 change in the baseline stiffness value of the human operator to thereby optimize control stability. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 19)
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9. A control system for providing motion control of a robot with optimized control stability, the robot having powered elements adapted for moving a payload in proportional response to an input force applied to a pair of handle bars by a human operator, the control system comprising:
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an operator-robot interface having a plurality of sensors that measure a predetermined set of operator input values, including a pair of sensors each positioned on a respective one of the handle bars and configured to measure the input force; and a host machine in communication with the operator-robot interface, and configured to measure a baseline stiffness value of the human operator as a minimum, equilibrium, or relaxed stiffness value, and calculate a change in the baseline stiffness value of the human operator using the set of operator input values; wherein the host machine actuates the powered elements in response to the input force, and automatically adjusts a level of control sensitivity over the robot using the change in the baseline stiffness value to thereby provide the optimized control stability. - View Dependent Claims (10, 11, 12, 13, 20)
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14. A method of controlling a robot incorporating powered elements that are collectively adapted for moving a payload in proportional response to an input force from a human operator, the method comprising:
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measuring a predetermined set of operator input values using a plurality of sensors of an operator-robot interface having a pair of handle bars each having a force sensor connected thereto, including measuring the input force using the force sensors; measuring a baseline stiffness value of the human operator as a minimum, equilibrium, or relaxed stiffness value; processing the set of operator input values using a controller, including calculating a change in the baseline stiffness value of the human operator; controlling the powered elements in response to the measured input force; and automatically adjusting a level of control sensitivity over the robot as a function of the calculated change in the baseline stiffness value, thereby optimizing control stability. - View Dependent Claims (15, 16, 17, 18)
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Specification