Path-Constrained Haptic Motion Guidance via Adaptive Phase-Based Admittance Control
Shahriari, Erfan Svarny, Petr Baradaran Birjandi, Seyed Ali Hoffmann, Matej Haddadin, Sami
Shahriari, Erfan
Svarny, Petr
Baradaran Birjandi, Seyed Ali
Hoffmann, Matej
Haddadin, Sami
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Department
Robotics
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Journal article
Date
2025
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Language
English
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Abstract
Robots have surpassed humans in terms of strength and precision, yet humans retain an unparalleled ability for decision-making in the face of unpredictable disturbances. This article aims to combine the strengths of both entities within a singular task: human motion guidance under strict geometric constraints, particularly adhering to predetermined paths. To tackle this challenge, a modular haptic guidance law is proposed that takes the human-applied wrench as an input. Using an auxiliary variable called phase, the generated desired motion is guaranteed to consistently adhere to the constraint path. It is demonstrated how the guidance policy can be generalized into physically interpretable terms, adjustable either prior to initiating the task or dynamically while the task is in progress. Additionally, an illustrative guidance adaptation policy is showcased that takes into account the human's manipulability. Leveraging passivity analysis, potential sources of instability are pinpointed, and subsequently, overall system stability is ensured by incorporating an augmented virtual energy tank. Lastly, a comprehensive set of experiments, including a 20-participant user study, explores various aspects of the approach in practice, encompassing both technical and usability considerations.
Citation
E. Shahriari, P. Svarny, S. A. B. Birjandi, M. Hoffmann, and S. Haddadin, “Path-Constrained Haptic Motion Guidance via Adaptive Phase-Based Admittance Control,” IEEE Transactions on Robotics, 2024, doi: 10.1109/TRO.2024.3521861.
Source
IEEE Transactions on Robotics
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Keywords
Adaptive control, motion planning, passivity-based control, physical human-robot interaction
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Publisher
IEEE