Hessinger, Markus ; Pingsmann, Markus ; Perry, Joel C. ; Werthschützky, Roland ; Kupnik, Mario (2017)
Hybrid Position/Force Control of an Upper-Limb Exoskeleton for Assisted Drilling.
IEEE/RSJ International Conference on Intelligent Robots and Systems. Vancouver, BC, Canada (24.09.2017 - 28.09.2017)
doi: 10.1109/IROS.2017.8205997
Conference or Workshop Item, Bibliographie
Abstract
Exoskeletons are wearable robotic systems to assist the human body concerning power and accuracy. In this work, an upper limb exoskeleton with seven degrees of freedom provides haptic guidance to the user enhancing accuracy of the target position and constant thrust force during drilling tasks. Therefore, an inverse kinematics algorithm is introduced using selective damping, depending on joint velocities to minimize the end effector position error for redundant systems. Additionally, the method recognizes user intention with structurally integrated torque sensors for null space optimization. An implicit, hybrid force-position controller is implemented to perform position controlled drilling tasks with constant thrust force. The performance evaluation with the exoskeleton shows a maximum position error of 1.27 mm and steady-state thrust force response with a maximum overshoot of 1N.
| Item Type: | Conference or Workshop Item |
|---|---|
| Erschienen: | 2017 |
| Creators: | Hessinger, Markus ; Pingsmann, Markus ; Perry, Joel C. ; Werthschützky, Roland ; Kupnik, Mario |
| Type of entry: | Bibliographie |
| Title: | Hybrid Position/Force Control of an Upper-Limb Exoskeleton for Assisted Drilling |
| Language: | English |
| Date: | 4 October 2017 |
| Place of Publication: | [Piscataway, NJ] |
| Publisher: | IEEE |
| Book Title: | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Event Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Event Location: | Vancouver, BC, Canada |
| Event Dates: | 24.09.2017 - 28.09.2017 |
| DOI: | 10.1109/IROS.2017.8205997 |
| Abstract: | Exoskeletons are wearable robotic systems to assist the human body concerning power and accuracy. In this work, an upper limb exoskeleton with seven degrees of freedom provides haptic guidance to the user enhancing accuracy of the target position and constant thrust force during drilling tasks. Therefore, an inverse kinematics algorithm is introduced using selective damping, depending on joint velocities to minimize the end effector position error for redundant systems. Additionally, the method recognizes user intention with structurally integrated torque sensors for null space optimization. An implicit, hybrid force-position controller is implemented to perform position controlled drilling tasks with constant thrust force. The performance evaluation with the exoskeleton shows a maximum position error of 1.27 mm and steady-state thrust force response with a maximum overshoot of 1N. |
| Divisions: | 18 Department of Electrical Engineering and Information Technology 18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design (dissolved 18.12.2018) 18 Department of Electrical Engineering and Information Technology > Measurement and Sensor Technology |
| Date Deposited: | 09 Oct 2017 12:51 |
| Last Modified: | 25 Jul 2024 09:35 |
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