Haptic Human-Robot Collaboration for Walker-Assisted Navigation Based on Admittance Controllers

Sergio D. Sierra M., Mario F. Jimenez, Marcela Munera, Carlos A. Cifuentes, Anselmo Frizera-Neto

Research output: Contribution to journalArticlepeer-review

Abstract

In recent years, advances in robotics and the constant growth of gait-related pathologies led to the development of different assistive devices. Smart walkers provide natural and intuitive strategies for gait assistance, such as path-following and guidance. Although these functionalities usually employ shared control approaches, the users' level of participation has yet to be assessed. This work presents the implementation of three modulation strategies for assisted navigation tasks. A path-following algorithm and a set of admittance-based controllers modulate the control authority between the user and the device. A group of 20 healthy subjects formed the validation group. Results showed a kinematic estimation error of 0.13 m for the strategy that shared the control authority with the user. Statistical tests found significant differences regarding the naturalness of the proposed approach (p-value of 0.00587).
Translated title of the contributionColaboración háptica entre humano-robot para la navegación asistid de un caminador basado en controladores de admitancia
Original languageEnglish
Article number22840171
Pages (from-to)2622-2628
Number of pages6
JournalIEEE Robotics and Automation Letters
Volume8
Issue number5
DOIs
StatePublished - May 2023

All Science Journal Classification (ASJC) codes

  • Biomedical Engineering
  • Control and Systems Engineering

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