Transferring Human Impedance Regulation Skills to Robots

This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.

Table of Contents

Chapter 1 Introduction
Chapter 2 On the Role of Compliance and Geometry in Mechanical Stability of the Humans and Robots

Part I Teleimpedance Control of a Robotic Arm
Chapter 3 Teleimpedance: Teleoperation with Impedance Regulation Using a Body-Machine Interface
Chapter 4 Replicating Human Stiffness Profile with a Cartesian Impedance Controller in Realtime
Chapter 5 Exploring the Roles of Common Mode Stiffness (CMS) and Configuration Dependent Stiffness (CDS) Control

Part II Human-like Impedance Controlof a Dual-Arm Manipulator
Chapter 6 Natural Redundancy Resolution in Dual-Arm Manipulation Using CDS Control
Chapter Teleimpedance Control of a Robotic Hand
Chapter 7 A Synergy-Driven Approach to a Myoelectric Hand
Chapter 8 Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand

Part IV Teleimpedance Control of a CompliantKnee Exoskeleton
Chapter 9 Teleimpedance Based Assistive Control for a Compliant Knee Exoskeleton
Chapter 10 Human-Inspired Balancing Assistance: Application to a Knee Exoskeleton
Chapter 11 Conclusions