The interactive human-robot system with a control algorithm for the estimation of the human stiffness

摘要

Robotic system (10), comprising:a robot (14), which is supplied with power elements (21, 25), wherein said robot (14) for moving a load (30) with the use of the supplied with power elements (21, 25) during an operation with a proportional response to a input power (f) of a human operator (12) is adapted;a user-robot-interface (16), which has a number of sensors (22, 32, 40, 42) for measuring a predetermined set of operator input values, which the input power (f); and is designeda controller (23) responsive to said input power (f), and is designed, in order to be supplied with power elements (21, 25), wherein the controller (23) for detecting a changing stiffness value of the human operator (12) during the operation of the valve by the use of the set of operator input values is operable;wherein the controller (23) is a level of the control sensitivity of the robot (14) with the use of the changing stiffness value is established automatically, in order thereby to optimize the stability control; andwherein the controller (23) of the level of the control sensitivity is automatically increased when the decreases or expands due expands due when the smaller than a calibrated threshold value, and the level of the control sensitivity reduced automatically, if the increases expands due, or if the threshold value of the calibrated expands due.