Suppressing Delay-Induced Oscillations in Physical Human-Robot Interaction with an Upper-Limb Exoskeleton using Rate-Limiting
Jianwei Sun,Peter Walker Ferguson,Jacob Rosen,Jianwei Sun,Peter Walker Ferguson,Jacob Rosen
In physical human-robot interaction (pHRI) enabled by admittance control, delay-induced oscillations arising from both the neuromuscular time-delays of the human and electromechanical delays of the robot can cause unsafe instability in the system. This study presents and evaluates rate-limiting as a means to overcome such instability, and provides a new perspective on how rate-limiting can benefit...
