Impedance Compensation Type Robotic Assistance for Hand Manipulation
Recently, the Supervisor has developed the “impedance compensation type robotic assistance” scheme for skilled hand manipulations. In this scheme, there are few parameters that impact the performance and efficacy of the robotic assistant. These are the mass, damping, and stiffness parameters of the impedance compensation and the two weighing coefficients of the Kalman filter used to estimate the intended hand movement. In this project, the impact of these five parameters will be analysed while subjects perform hand drawing with the assistance of a KUKA iiwa Light Weight robot arm. The analysis will make use of an analogy to the analysis of the impact of the proportional, integral, and derivative coefficients of a PID controller on the step response of a controlled system. The results of the analysis will be used to develop an adaptive impedance compensation type robotic assistance for hand drawing on the notepad. The robotic assistant will adapt to the user needs in real-time depending on how she is performing.
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