The stability investigation of variable viscosity control in the human-robot interaction.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Oct 1, 2022

Abstract

BACKGROUND: For many co-manipulative applications, variable damping is a valuable feature provided by robots. One approach is implementing a high viscosity at low velocities and a low viscosity at high velocities. This, however, is proven to have the possibility to alter human natural motion performance.

Authors

  • Lin Dong
    Environmental Exposures Vascular Disease Institute, Shanxi Medical University, Taiyuan, Shanxi, China.
  • Nicolas Perrin
    PROTiP Medical SAS, Strasbourg, France.
  • Florian Richer
    Institut des Systèmes Intelligents et de Robotique, CNRS UMR 7222, Sorbonne Université, 75005 Paris, France.
  • Agnes Roby-Brami
  • Guillaume Morel
    UMR 7222, ISIR, Sorbonne Universités, UPMC Univ. Paris 06, Paris, France. morel@isir.upmc.fr.

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