Smoothly adapting viscosity to velocity during comanipulation pointing movements
ISSN: 0144-5154
Article publication date: 5 October 2022
Issue publication date: 17 October 2022
Abstract
Purpose
When a robot comanipulates an object with a human user, damping is a useful function. This is achieved by programming the robot to exhibit a viscous field. For some specific applications, the viscosity is required to change according to the manipulation velocity. A reported method is programming the viscosity varying inversely to the velocity. In this paper, this method is experimentally shown to distort human’s natural motion performance. This paper aims to propose a solution to solve this instability problem.
Design/methodology/approach
The authors performed a point-to-point targeting movement, where it was observed that the instability results from a sudden reduction of robot’s resistance to motion, which further results from the abrupt viscosity drop when the subject tries to accelerate. Therefore, the authors propose a solution where a first-order linear filter is added to the viscosity coefficient so as to slow down its variation.
Findings
The experimental results confirm that the proposition is effective, with the ability to stabilize the comanipulated dynamics and to restore the human’s natural behavior.
Originality/value
This paper concerns applications of comanipulation where the viscosity coefficient is designed to decrease as the velocity increases. An instability problem, which was of vital importance in terms of safety and performance but unreported in the literature, was experimentally studied through human–robot experiments. A solution was proposed by including a secondary dynamics in the variations of the viscosity. Its effectiveness was supported by the practical point-to-point motion experiments.
Keywords
Acknowledgements
This work was supported in part by the project FLUOROMIS funded by French FUI and by french state funds managed by the ANR within the Investissements d’Avenir programme (Labex CAMI) under reference ANR-11-LABX-0004.
Citation
Dong, L., Richer, F., Roby-Brami, A. and Morel, G. (2022), "Smoothly adapting viscosity to velocity during comanipulation pointing movements", Assembly Automation, Vol. 42 No. 5, pp. 686-693. https://doi.org/10.1108/AA-05-2022-0142
Publisher
:Emerald Publishing Limited
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