Analysis and Compare of Two Control Modes in Physical Human-Robot Interaction

Guang Hui Xie; Mi Na Jin; Minoru Hashimoto

doi:10.4028/www.scientific.net/AMM.401-403.1600

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 401-403Analysis and Compare of Two Control Modes in...

Analysis and Compare of Two Control Modes in Physical Human-Robot Interaction

Abstract:

This paper focus on analyzing and comparing the merits and faults of neural oscillators and dynamics control methods for the physical human-robot interaction. Firstly, the principles of two control modes are introduced about neural oscillators and dynamics. Secondly, their self-oscillation and synchronizatin chracteristics are analyed and compared in both without input and with input cases respectively. Lastly, based on human-robot handshaking interaction, simulation is implemented by using two control methods respctively. And the validity of two control methods are compared and analyzed according to simulation results.

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Periodical:

Applied Mechanics and Materials (Volumes 401-403)

Pages:

1600-1604

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.401-403.1600

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Online since:

September 2013

Authors:

Guang Hui Xie, Mi Na Jin, Minoru Hashimoto

Keywords:

Dynamic, Handshaking, Neural Oscillator, Robot, Synchronization

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