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

Título traducido de la contribución: Colaboración háptica entre humano-robot para la navegación asistid de un caminador basado en controladores de admitancia

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

Producción científica: Contribución a una revista › Artículo de Investigación › revisión exhaustiva

3 Citas (Scopus)

Resumen

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).

Título traducido de la contribución	Colaboración háptica entre humano-robot para la navegación asistid de un caminador basado en controladores de admitancia
Idioma original	Inglés
Número de artículo	22840171
Páginas (desde-hasta)	2622-2628
Número de páginas	6
Publicación	IEEE Robotics and Automation Letters
Volumen	8
N.º	5
DOI	https://doi.org/10.1109/LRA.2023.3256924
Estado	Publicada - may. 2023

Áreas temáticas de ASJC Scopus

Ingeniería biomédica
Ingeniería de control y sistemas

ODS de las Naciones Unidas

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10.1109/LRA.2023.3256924

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@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",

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journal = "IEEE Robotics and Automation Letters",

issn = "2377-3766",

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

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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).

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

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