Admittance control scheme for implementing model-based assistance-as-needed on a robot

Carmichael, MG; Liu, D

Admittance control scheme for implementing model-based assistance-as-needed on a robot

Carmichael, MG

Liu, D

Permalink

Publication Type:: Conference Proceeding
Citation:: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2013, pp. 870 - 873
Issue Date:: 2013-01-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download full textAdobe PDF (901.16 kB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2013-01-01	en_US
dc.identifier.citation	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2013, pp. 870 - 873	en_US
dc.identifier.isbn	9781457702167	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/27584
dc.description.abstract	A model-based assistance-as-needed paradigm has been developed to govern the assistance provided by an assistive robot to its operator. This paradigm has advantages over existing methods of providing assistance-as-needed for applications such as robotic rehabilitation. However, implementation of the model-based paradigm requires a control scheme to be developed which controls the robot so as to provide the assistance calculated by the model-based paradigm to its operator. In this paper an admittance control scheme for providing model-based assistance-as-needed is presented. It is developed considering its suitability for human-robot interaction, and its role within the model-based assistance-as-needed framework. Results from the control implemented on an example robot showed it is capable of providing the operator with the desired level of assistance as governed by the model-based paradigm. This is an essential requirement for the paradigm to be capable of providing efficacious assistance-as-needed in applications such as robotic rehabilitation. © 2013 IEEE.	en_US
dc.relation.ispartof	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS	en_US
dc.relation.isbasedon	10.1109/EMBC.2013.6609639	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Reproducibility of Results	en_US
dc.subject.mesh	Robotics	en_US
dc.subject.mesh	Algorithms	en_US
dc.subject.mesh	Neural Networks (Computer)	en_US
dc.subject.mesh	Models, Theoretical	en_US
dc.subject.mesh	Neural Networks, Computer	en_US
dc.title	Admittance control scheme for implementing model-based assistance-as-needed on a robot	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
dc.location.activity	Osaka, Japan	en_US
dc.location.activity	United States
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

A model-based assistance-as-needed paradigm has been developed to govern the assistance provided by an assistive robot to its operator. This paradigm has advantages over existing methods of providing assistance-as-needed for applications such as robotic rehabilitation. However, implementation of the model-based paradigm requires a control scheme to be developed which controls the robot so as to provide the assistance calculated by the model-based paradigm to its operator. In this paper an admittance control scheme for providing model-based assistance-as-needed is presented. It is developed considering its suitability for human-robot interaction, and its role within the model-based assistance-as-needed framework. Results from the control implemented on an example robot showed it is capable of providing the operator with the desired level of assistance as governed by the model-based paradigm. This is an essential requirement for the paradigm to be capable of providing efficacious assistance-as-needed in applications such as robotic rehabilitation. © 2013 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/27584