On force control in human physical skill

Y. Tsumaki, H. Naruse, D. N. Nenchev, M. Uchiyama

    Research output: Contribution to conferencePaper

    1 Citation (Scopus)

    Abstract

    We analyze some aspects of human physical skill and propose a respective model. We implement our model in a control scheme which makes use of impedance control in combination with low-gain force control and feed-forward control. The simulation results show that the model is able to achieve the reference force, and at the same time, the manipulator shows impedance-type behavior. Furthermore, with this scheme it is possible to track the reference force quickly, when the disturbance is known a priori. The experiments show that the performance of our control scheme is very close to that of the human operator.

    Original languageEnglish
    Pages458-463
    Number of pages6
    Publication statusPublished - 1997 Dec 1
    EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr
    Duration: 1997 Sep 71997 Sep 11

    Other

    OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)
    CityGrenoble, Fr
    Period97/9/797/9/11

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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  • Cite this

    Tsumaki, Y., Naruse, H., Nenchev, D. N., & Uchiyama, M. (1997). On force control in human physical skill. 458-463. Paper presented at Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3), Grenoble, Fr, .