TY - GEN
T1 - Hybrid position/force control of an upper-limb exoskeleton for assisted drilling
AU - Hessinger, Markus
AU - Pingsmann, Markus
AU - Perry, Joel C.
AU - Werthschutzky, Roland
AU - Kupnik, Mario
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Exoskeletons are wearable robotic systems to assist the human body concerning power and accuracy. In this work, an upper limb exoskeleton with seven degrees of freedom provides haptic guidance to the user enhancing accuracy of the target position and constant thrust force during drilling tasks. Therefore, an inverse kinematics algorithm is introduced using selective damping, depending on joint velocities to minimize the end effector position error for redundant systems. Additionally, the method recognizes user intention with structurally integrated torque sensors for null space optimization. An implicit, hybrid force-position controller is implemented to perform position controlled drilling tasks with constant thrust force. The performance evaluation with the exoskeleton shows a maximum position error of 1.27 mm and steady-state thrust force response with a maximum overshoot of 1N.
AB - Exoskeletons are wearable robotic systems to assist the human body concerning power and accuracy. In this work, an upper limb exoskeleton with seven degrees of freedom provides haptic guidance to the user enhancing accuracy of the target position and constant thrust force during drilling tasks. Therefore, an inverse kinematics algorithm is introduced using selective damping, depending on joint velocities to minimize the end effector position error for redundant systems. Additionally, the method recognizes user intention with structurally integrated torque sensors for null space optimization. An implicit, hybrid force-position controller is implemented to perform position controlled drilling tasks with constant thrust force. The performance evaluation with the exoskeleton shows a maximum position error of 1.27 mm and steady-state thrust force response with a maximum overshoot of 1N.
UR - https://www.scopus.com/pages/publications/85041961647
U2 - 10.1109/IROS.2017.8205997
DO - 10.1109/IROS.2017.8205997
M3 - Conference contribution
AN - SCOPUS:85041961647
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1824
EP - 1829
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -