DSCC 2013 Paper Abstract

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Paper MoBT2.5

Erwin, Andrew (Rice University), Sergi, Fabrizio (Rice University), Chawda, Vinay (Rice University), O'Malley, Marcia (Rice University)

Interaction Control for Rehabilitation Robotics Via a Low-Cost Force Sensing Handle

Scheduled for presentation during the Invited session "Human Assistive Systems and Wearable Robots: Applications and Assessment" (MoBT2), Monday, October 21, 2013, 14:50−15:10, Room 123

6th Annual Dynamic Systems and Control Conference, October 21-23, 2020, Stanford University, Munger Center, Palo Alto, CA

This information is tentative and subject to change. Compiled on October 30, 2020

Keywords Service/Rehabilitation Robots, Force Control, Object handling or grasping

Abstract

This paper investigates the possibility of implementing force-feedback controllers using measurement of interaction force obtained through force-sensing resistors (FSRs), to improve performance of human interacting robots. A custom sensorized handle was developed, with the capability of simultaneously measuring grip force and interaction force during robot-aided rehabilitation therapy. Experiments are performed in order to assess the suitability of FSRs to implement force-feedback interaction controllers. In the force-feedback control condition, the applied force for constant speed motion of a linear 1DOF haptic interface is reduced 6.1 times compared to the uncontrolled condition, thus demonstrating the possibility of improving transparency through force-feedback via FSRs.

 

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