Please use this identifier to cite or link to this item: https://doi.org/10.1109/TMECH.2013.2264533
DC FieldValue
dc.titleHuman-robot collaboration based on motion intention estimation
dc.contributor.authorLi, Y.
dc.contributor.authorGe, S.S.
dc.date.accessioned2014-10-07T04:29:52Z
dc.date.available2014-10-07T04:29:52Z
dc.date.issued2014
dc.identifier.citationLi, Y., Ge, S.S. (2014). Human-robot collaboration based on motion intention estimation. IEEE/ASME Transactions on Mechatronics 19 (3) : 1007-1014. ScholarBank@NUS Repository. https://doi.org/10.1109/TMECH.2013.2264533
dc.identifier.issn10834435
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/82478
dc.description.abstractIn this paper, adaptive impedance control is proposed for a robot collaborating with a human partner, in the presence of unknown motion intention of the human partner and unknown robot dynamics. Human motion intention is defined as the desired trajectory in the limb model of the human partner, which is extremely difficult to obtain considering the nonlinear and time-varying property of the limb model. Neural networks are employed to cope with this problem, based on which an online estimation method is developed. The estimated motion intention is integrated into the developed adaptive impedance control, which makes the robot follow a given target impedance model. Under the proposed method, the robot is able to actively collaborate with its human partner, which is verified through experiment studies. © 1996-2012 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/TMECH.2013.2264533
dc.sourceScopus
dc.subjectHuman-robot collaboration
dc.subjectmotion intention estimation
dc.subjectneural networks (NNs)
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1109/TMECH.2013.2264533
dc.description.sourcetitleIEEE/ASME Transactions on Mechatronics
dc.description.volume19
dc.description.issue3
dc.description.page1007-1014
dc.description.codenIATEF
dc.identifier.isiut000334934000021
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