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Erschienen in:
Task and Spatial Planning by the Cognitive Agent with Human-Like Knowledge Representation Kapitel lesen Erstes Kapitel lesen

2018 | OriginalPaper | Buchkapitel

Modelling Characteristics of Human-Robot Interaction in an Exoskeleton System with Elastic Elements

verfasst von : Sergey Jatsun, Sergei Savin, Andrey Yatsun

Erschienen in: Interactive Collaborative Robotics

Verlag: Springer International Publishing

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Abstract

In the paper, problem of modelling the human robot interactions in an exoskeleton system is investigated. In particular, a the case of a lower limb exoskeleton is considered. The interaction is supported by a special connector device featuring elastic elements and pressure sensors, allowing measuring the relative position of the human body and the mechanism links. An algorithm for calculating the position of the human body using the feedback from the pressure sensor is presented. Simulation results taking into account the noise and quantization of the sensor output showed validity of the proposed algorithm. Further simulations allowed to analyze the behavior of the control system in the case of harmonic inputs over a range of different frequencies.

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Vorheriges Kapitel Consensus-Based Localization of Devices with Unknown Transmitting Power
Nächstes Kapitel Safety-Related Risks and Opportunities of Key Design-Aspects for Industrial Human-Robot Collaboration
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Metadaten
Titel
Modelling Characteristics of Human-Robot Interaction in an Exoskeleton System with Elastic Elements
verfasst von
Sergey Jatsun
Sergei Savin
Andrey Yatsun
Copyright-Jahr
2018
Buch
Interactive Collaborative Robotics

Print ISBN: 978-3-319-99581-6

Electronic ISBN: 978-3-319-99582-3

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-99582-3_10