Variable Admittance Control Based on Trajectory Prediction of Human Hand Motion for Physical Human-Robot Interaction

Variable Admittance Control Based on Trajectory Prediction of Human Hand Motion for Physical Human-Robot Interaction

In order to achieve effective physical human–robot interaction, human dynamic characteristics needs to be considered in admittance control. This paper proposes a variable admittance control method for physical human–robot interaction based on trajectory prediction of human hand motion. By predicting...

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Bibliographic Details
Main Authors: Yu Wang, Yuanyuan Yang, Baoliang Zhao, Xiaozhi Qi, Ying Hu, Bing Li, Lining Sun, Lihai Zhang, Max Q.-H. Meng
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Applied Sciences
Subjects:
physical human–robot interaction
compliance control
medical robots and systems
variable admittance control
human motion prediction
long short-term memory network
Online Access:https://www.mdpi.com/2076-3417/11/12/5651

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https://www.mdpi.com/2076-3417/11/12/5651

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