Variable Impedance Control with Virtual Stiffness for Human-Robot Cooperative Task —Human-Robot Cooperative Peg-in-Hole Task—

Toru Tsumugiwa; Ryuichi Yokogawa; Kei Hara

doi:10.11499/sicep.2002.0.512.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.512.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Variable Impedance Control with Virtual Stiffness for Human-Robot Cooperative Task

—Human-Robot Cooperative Peg-in-Hole Task—

Toru Tsumugiwa, Ryuichi Yokogawa, Kei Hara

Author information

Keywords: Human-robot cooperative task, Variable impedance control, Peg-in-hole task, Estimation, Human arm stiffness

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 512

Details

Abstract

This paper presents a novel variable impedance control for a human-robot cooperative task. A proposed control has a virtual stiffness term that makes the cooperative positioning task easy and precise. Virtual force helps a human operator to perform the positioning taks precisely. A cooperative peg-in-hole task experiment was performed results illustrate that the proposed control is effective for the cooperative task.

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