By Topic

Human-robot interaction via the transfer of power and information signals

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Kazerooni, H. ; Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA

Constrained motion in a class of human-controlled robotic manipulators called extenders is discussed. Extenders are defined as a class of robot manipulators worn by humans to increase mechanical strength while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the extender. The present analysis focuses on the dynamics and control of human-robot interaction in the sense of the transfer of power and information signals. General models for the human, the extender, and the interaction between the human and extender are developed. The stability of the system of human, extender, and the 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 trade-off between stability and performance is described. The theoretical predictions are verified experimentally

Published in:

Systems, Man and Cybernetics, IEEE Transactions on  (Volume:20 ,  Issue: 2 )