A User Study on Personalized Stiffness Control and Task Specificity in Physical Human–Robot Interaction

@article{Gopinathan2017AUS,
  title={A User Study on Personalized Stiffness Control and Task Specificity in Physical Human–Robot Interaction},
  author={Sugeeth Gopinathan and Sonja K. {\"O}tting and Jochen J. Steil},
  journal={Front. Robotics and AI},
  year={2017},
  volume={2017}
}
An ideal physical human–robot interaction (pHRI) should offer the users robotic systems that are easy to handle, intuitive to use, ergonomic and adaptive to human habits and preferences. But the variance in the user behavior is often high and rather unpredictable, which hinders the development of such systems. This article introduces a Personalized Adaptive Stiffness controller for pHRI that is calibrated for the user’s force profile and validates its performance in an extensive user study with… CONTINUE READING
Recent Discussions
This paper has been referenced on Twitter 4 times over the past 90 days. VIEW TWEETS

From This Paper

Topics from this paper.
1 Citations
39 References
Similar Papers

Citations

Publications citing this paper.

References

Publications referenced by this paper.
Showing 1-10 of 39 references

Adaptive control of mechanical impedance by coactivation of antagonist muscles

  • N. Hogan
  • IEEE Trans. Automat. Contr. 29, 681–690. doi:10…
  • 1984
Highly Influential
6 Excerpts

Learning manipu ­ lability ellipsoids for task compatibility in robot manipulation

  • R. Shadmehr, S. P. Wise
  • Proc . IEEE / RSJ Intl Conf . on Intelligent…
  • 2017

Similar Papers

Loading similar papers…