Human interaction with passive assistive robots

Peng Pan; Kevin M. Lynch; Michael A. Peshkin; J. Edward Colgate

doi:10.1109/ICORR.2005.1501098

Human interaction with passive assistive robots

Peng Pan^*, Kevin M. Lynch, Michael A. Peshkin, J. Edward Colgate

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Scopus citations

Abstract

We are studying the use of programmable constraint machines for rehabilitation and as assistive devices in materials handling. In this paper we describe initial experiments in human interaction with a two-joint passive programmable constraint device, or cobot. The user grasps the manipulandum at a handle, and the manipulandum implements a smooth, hard, low friction constraint curve. Initial experiments in reaching tasks subject to such a constraint show that subjects apply significant forces against the constraint, in a manner dependent on the movement speed and constraint shape. These forces can be broken into passive forces (due simply to the dynamics of the human arm) and forces actively generated by the muscles. Some motor adaptation is also evident.

Original language	English (US)
Title of host publication	Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Pages	264-268
Number of pages	5
DOIs	https://doi.org/10.1109/ICORR.2005.1501098
State	Published - 2005
Event	2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 - Chicago, IL, United States Duration: Jun 28 2005 → Jul 1 2005

Publication series

Name	Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics
Volume	2005

Other

Other	2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Country	United States
City	Chicago, IL
Period	6/28/05 → 7/1/05

ASJC Scopus subject areas

Engineering(all)

Access to Document

10.1109/ICORR.2005.1501098

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Pan, P., Lynch, K. M., Peshkin, M. A., & Colgate, J. E. (2005). Human interaction with passive assistive robots. In Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 (pp. 264-268). [1501098] (Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics; Vol. 2005). https://doi.org/10.1109/ICORR.2005.1501098

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title = "Human interaction with passive assistive robots",

abstract = "We are studying the use of programmable constraint machines for rehabilitation and as assistive devices in materials handling. In this paper we describe initial experiments in human interaction with a two-joint passive programmable constraint device, or cobot. The user grasps the manipulandum at a handle, and the manipulandum implements a smooth, hard, low friction constraint curve. Initial experiments in reaching tasks subject to such a constraint show that subjects apply significant forces against the constraint, in a manner dependent on the movement speed and constraint shape. These forces can be broken into passive forces (due simply to the dynamics of the human arm) and forces actively generated by the muscles. Some motor adaptation is also evident.",

author = "Peng Pan and Lynch, {Kevin M.} and Peshkin, {Michael A.} and Colgate, {J. Edward}",

year = "2005",

doi = "10.1109/ICORR.2005.1501098",

language = "English (US)",

isbn = "0780390032",

series = "Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics",

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booktitle = "Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005",

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Pan, P, Lynch, KM , Peshkin, MA & Colgate, JE 2005, Human interaction with passive assistive robots. in Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005., 1501098, Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, vol. 2005, pp. 264-268, 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005, Chicago, IL, United States, 6/28/05. https://doi.org/10.1109/ICORR.2005.1501098

Human interaction with passive assistive robots. / Pan, Peng; Lynch, Kevin M.; Peshkin, Michael A.; Colgate, J. Edward.

Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005. 2005. p. 264-268 1501098 (Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - We are studying the use of programmable constraint machines for rehabilitation and as assistive devices in materials handling. In this paper we describe initial experiments in human interaction with a two-joint passive programmable constraint device, or cobot. The user grasps the manipulandum at a handle, and the manipulandum implements a smooth, hard, low friction constraint curve. Initial experiments in reaching tasks subject to such a constraint show that subjects apply significant forces against the constraint, in a manner dependent on the movement speed and constraint shape. These forces can be broken into passive forces (due simply to the dynamics of the human arm) and forces actively generated by the muscles. Some motor adaptation is also evident.

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