Dyadic behavior in co-manipulation :from humans to robots

• Ano de defesa: 2018
• Autor(a) principal: Gomes Júnior, Waldez Azevedo
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: eng
• Instituição de defesa: Universidade Federal do Rio de Janeiro; Brasil; Instituto Alberto Luiz Coimbra de Pós-Graduação e Pesquisa de Engenharia; Programa de Pós-Graduação em Engenharia Elétrica; UFRJ
• Palavras-chave em Português: Engenharia elétrica; Colaboração humano-robô; Comportamento motor humano; Controle de admissão adaptativo.Humano no circuito; Eletromiografia; CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA::MEDIDAS ELETRICAS, MAGNETICAS E ELETRONICAS INSTRUMENTACAO::SISTEMAS ELETRONICOS DE MEDIDA E DE CONTROLE
• Link de acesso: http://hdl.handle.net/11422/11679

To both decrease the physical toll on a human worker, and increase a robot’s environment perception, a human-robot dyad may be used to co-manipulate a shared object. From the premise that humans are efficient working together, this work’s approach is to investigate human-human dyads co-manipulating an object. The co-manipulation is evaluated from motion capture data, surface electromyography (EMG) sensors, and custom contact sensors for qualitative performance analysis. A human-human dyadic co-manipulation experiment is designed in which every human is instructed to behave as a leader, as a follower or neither, acting as naturally as possible. The experiment data analysis revealed that humans modulate their arm mechanical impedance depending on their role during the co-manipulation. In order to emulate the human behavior during a co-manipulation task, an admittance controller with varying stiffness is presented. The desired stiffness is continuously varied based on a scalar and smooth function that assigns a degree of leadership to the robot. Furthermore, the controller is analyzed through simulations, its stability is analyzed by Lyapunov. The resulting object trajectories greatly resemble the patterns seen in the human-human dyad experiment.