Paper Info
Title
Human/robot interaction via the transfer of power and information signals. I. Dynamics and control analysis
Abstract
Extenders, a class of robot manipulators worn by humans to increase human mechanical strength while the wearer's intellect remains the central intelligent control system for manipulating the extender, are characterized, with a focus on the issues of the dynamics and control of human-machine interaction in the sense of the transfer of power and information signals. General models of the human, the extender, and the interaction between the human and the extender are developed. Unstructured modeling is chosen to include all the dynamics in the systems and to avoid specific models. The stability of the system of human, extender, and object being manipulated is analyzed, and the conditions for stable maneuvers derived. An expression for the performance of the extender is defined as a means to quantify the force augmentation. The tradeoff between stability and performance is described
Year
DOI
Venue
1989
10.1109/ROBOT.1989.100211
ICRA
Keywords
Field
DocType
control system analysis,dynamics,man-machine systems,robots,stability,control analysis,extender,force augmentation,human-machine interaction,human/robot interaction,information signal transfer,power transfer,robot manipulators,unstructured modelling,control systems,stability analysis,human robot interaction,intelligent control
Intelligent control,Mechanical strength,Control theory,Extender,Control engineering,Control system,Maximum power transfer theorem,Engineering,Robot manipulator,Robot,Human–robot interaction
Conference
Volume
Issue
Citations 
1989
1
24
PageRank 
References 
Authors
18.36
3
1
Name
Order
Citations
PageRank
H. Kazerooni1766314.26