Accounting for respiratory motions in online mechanical impedance estimation

Fabien Courrèges; Med Amine Laribi; M Arsicault; Joseph Absi; S Zeghloul

Accounting for respiratory motions in online mechanical impedance estimation

Fabien Courrèges ¹ Med Amine Laribi ² M Arsicault ² Joseph Absi ³ S Zeghloul ²

1 XLIM-SRI - Systèmes et Réseaux Intelligents

XLIM - XLIM : SRI

2 PPRIME - Institut Pprime

3 SPCTS - Science des Procédés Céramiques et de Traitements de Surface

Abstract : The aim of this work is to improve the safety and control robustness of robots interacting physically with humans by enhancing their contact perception. More specifically in the abdominal area, respiratory motions are clearly influencing the contact dynamics but have not yet been accounted for in the estimation of the contact impedance. We propose here a combined mechanical-respiratory model of impedance along with its on-line identification. Numerical and practical experiments with living subjects validate the identification process and show the relevance in accuracy of accounting for the respiratory beats.

Keywords : human-robot interaction mechanoception medical robotics physiological models pneumodynamics

Type de document :

Communication dans un congrès

IEEE 13th International Conference on Industrial Informatics (INDIN), Jul 2015, Cambridge, United Kingdom. Proceedings 2015 IEEE 13th International Conference on Industrial Informatics (INDIN)

Domaine :

Sciences de l'ingénieur [physics] / Automatique / Robotique

Sciences de l'ingénieur [physics] / Traitement du signal et de l'image

Liste complète des métadonnées

https://hal-unilim.archives-ouvertes.fr/hal-01315331
Contributeur : Fabien Courrèges <>
Soumis le : vendredi 13 mai 2016 - 05:24:49
Dernière modification le : mercredi 21 novembre 2018 - 10:42:02

Accounting for respiratory motions in online mechanical impedance estimation

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Accounting for respiratory motions in online mechanical impedance estimation

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