Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 5, Issue 3, Pages 4399-4406Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.2998715
Keywords
Cooperating robots; human-centered robotics; physical human-robot interaction
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Funding
- European Commission H2020 Grant COGIMON [ICT 644727]
- European Commission H2020 Grant PH-CODING [FETOPEN 829186]
- European Commission H2020 Grant INTUITIVE [ITN 861166]
- European Commission H2020 Grant CONBOTS [ICT 871803]
- European Commission H2020 Grant TRIMANUAL [MSCA-IF-843408]
- UK EPSRC [EP/NO29003/1, EP/T006951/1, EP/R026092/1]
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This letter introduces a sensory augmentation technique enabling a contact robot to understand its human user's control in real-time and integrate their reference trajectory information into its own sensory feedback to improve the tracking performance. The human's control is formulated as a feedback controller with unknown control gains and desired trajectory. An unscented Kalman filter is used to estimate first the control gains and then the desired trajectory. The estimated human's desired trajectory is used as augmented sensory information about the system and combined with the robot's measurement to estimate a reference trajectory. Simulations and an implementation on a robotic interface demonstrate that the reactive control can robustly identify the human user's control, and that the sensory augmentation improves the robot's tracking performance.
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