Accounting for respiratory motions in online mechanical impedance estimation

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.
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)
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https://hal-unilim.archives-ouvertes.fr/hal-01315331
Contributeur : Fabien Courrèges <>
Soumis le : vendredi 13 mai 2016 - 05:24:49
Dernière modification le : mercredi 14 février 2018 - 15:40:55

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  • HAL Id : hal-01315331, version 1

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Fabien Courrèges, Med Amine Laribi, M Arsicault, Joseph Absi, S Zeghloul. Accounting for respiratory motions in online mechanical impedance estimation. IEEE 13th International Conference on Industrial Informatics (INDIN), Jul 2015, Cambridge, United Kingdom. Proceedings 2015 IEEE 13th International Conference on Industrial Informatics (INDIN). 〈hal-01315331〉

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