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

doi:10.1109/LRA.2023.3256924

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

Technology, Engineering, Science and Mathematics - TICMA

Research output: Contribution to Journal › Research Article › peer-review

5 Scopus citations

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 contribution	Colaboración háptica entre humano-robot para la navegación asistid de un caminador basado en controladores de admitancia
Original language	English
Article number	22840171
Pages (from-to)	2622-2628
Number of pages	6
Journal	IEEE Robotics and Automation Letters
Volume	8
Issue number	5
DOIs	https://doi.org/10.1109/LRA.2023.3256924
State	Published - May 2023

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

All Science Journal Classification (ASJC) codes

Biomedical Engineering
Control and Systems Engineering

Access to Document

10.1109/LRA.2023.3256924

Cite this

@article{d87397e475c4450aa0656ddec22d045d,

title = "Haptic Human-Robot Collaboration for Walker-Assisted Navigation Based on Admittance Controllers",

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).",

author = "\{Sierra M.\}, \{Sergio D.\} and Jimenez, \{Mario F.\} and Marcela Munera and Cifuentes, \{Carlos A.\} and Anselmo Frizera-Neto",

note = "Funding Information: This work was supported in part by Minciencias underGrant 801-2017, in part by FAPES under Grants 2021-V4J3L, 2022-D48XB, and 2022-C5K3H, in part by CNPq under Grants 304049/2019-0 and 403753/2021-0, in part byCAPES- 001, Universidad del Roario's Internal Funding underGrant IV-FMI001, and in part by the EPSRC FARSCOPE CDT. Publisher Copyright: {\textcopyright} 2016 IEEE.",

year = "2023",

month = may,

doi = "10.1109/LRA.2023.3256924",

language = "Ingl{\'e}s",

volume = "8",

pages = "2622--2628",

journal = "IEEE Robotics and Automation Letters",

issn = "2377-3766",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "5",

}

TY - JOUR

T1 - Haptic Human-Robot Collaboration for Walker-Assisted Navigation Based on Admittance Controllers

AU - Sierra M., Sergio D.

AU - Jimenez, Mario F.

AU - Munera, Marcela

AU - Cifuentes, Carlos A.

AU - Frizera-Neto, Anselmo

N1 - Funding Information: This work was supported in part by Minciencias underGrant 801-2017, in part by FAPES under Grants 2021-V4J3L, 2022-D48XB, and 2022-C5K3H, in part by CNPq under Grants 304049/2019-0 and 403753/2021-0, in part byCAPES- 001, Universidad del Roario's Internal Funding underGrant IV-FMI001, and in part by the EPSRC FARSCOPE CDT. Publisher Copyright: © 2016 IEEE.

PY - 2023/5

Y1 - 2023/5

N2 - 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).

AB - 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).

UR - https://www.scopus.com/pages/publications/85151363391

UR - https://www.scopus.com/pages/publications/85151363391#tab=citedBy

U2 - 10.1109/LRA.2023.3256924

DO - 10.1109/LRA.2023.3256924

M3 - Artículo de Investigación

SN - 2377-3766

VL - 8

SP - 2622

EP - 2628

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 5

M1 - 22840171

ER -

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

Abstract

UN SDGs

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this