Contact dynamics of massage compliant robotic arm and its coupled stability

Yuancan Huang; Philippe Souères; Jian Li

doi:10.1109/ICRA.2014.6907050

Contact dynamics of massage compliant robotic arm and its coupled stability

Yuancan Huang, Philippe Souères, Jian Li

School of Mechatronical Engineering

Université Fédérale Toulouse Midi-Pyrénées

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

11 Citations (Scopus)

Abstract

In this paper, contact dynamics of robot massage is described by the port-Hamiltonian modelling approach. In order to capture accurately the inherent characteristics of the human body in lumped-parameter manners, the conventional linear Kelvin-Voigt models are replaced by the nonlinear Hunt-Crossley models. As an application of the contact dynamics, coupled stability of compliant robotic arm with impedance control is theoretically analyzed from energetic viewpoints. Experiments are done to verify the massage stability. The proposed contact dynamics evidently has great potential on performance improvement of robot massage, which will be our research subject.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1499-1504
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907050
Publication status	Published - 22 Sept 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

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10.1109/ICRA.2014.6907050

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Huang, Y., Souères, P., & Li, J. (2014). Contact dynamics of massage compliant robotic arm and its coupled stability. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1499-1504). Article 6907050 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907050

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title = "Contact dynamics of massage compliant robotic arm and its coupled stability",

abstract = "In this paper, contact dynamics of robot massage is described by the port-Hamiltonian modelling approach. In order to capture accurately the inherent characteristics of the human body in lumped-parameter manners, the conventional linear Kelvin-Voigt models are replaced by the nonlinear Hunt-Crossley models. As an application of the contact dynamics, coupled stability of compliant robotic arm with impedance control is theoretically analyzed from energetic viewpoints. Experiments are done to verify the massage stability. The proposed contact dynamics evidently has great potential on performance improvement of robot massage, which will be our research subject.",

author = "Yuancan Huang and Philippe Sou{\`e}res and Jian Li",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

year = "2014",

month = sep,

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doi = "10.1109/ICRA.2014.6907050",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Huang, Y, Souères, P & Li, J 2014, Contact dynamics of massage compliant robotic arm and its coupled stability. in Proceedings - IEEE International Conference on Robotics and Automation., 6907050, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1499-1504, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907050

Contact dynamics of massage compliant robotic arm and its coupled stability. / Huang, Yuancan; Souères, Philippe; Li, Jian.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1499-1504 6907050 (Proceedings - IEEE International Conference on Robotics and Automation).

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

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AU - Souères, Philippe

AU - Li, Jian

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N2 - In this paper, contact dynamics of robot massage is described by the port-Hamiltonian modelling approach. In order to capture accurately the inherent characteristics of the human body in lumped-parameter manners, the conventional linear Kelvin-Voigt models are replaced by the nonlinear Hunt-Crossley models. As an application of the contact dynamics, coupled stability of compliant robotic arm with impedance control is theoretically analyzed from energetic viewpoints. Experiments are done to verify the massage stability. The proposed contact dynamics evidently has great potential on performance improvement of robot massage, which will be our research subject.

AB - In this paper, contact dynamics of robot massage is described by the port-Hamiltonian modelling approach. In order to capture accurately the inherent characteristics of the human body in lumped-parameter manners, the conventional linear Kelvin-Voigt models are replaced by the nonlinear Hunt-Crossley models. As an application of the contact dynamics, coupled stability of compliant robotic arm with impedance control is theoretically analyzed from energetic viewpoints. Experiments are done to verify the massage stability. The proposed contact dynamics evidently has great potential on performance improvement of robot massage, which will be our research subject.

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014

Y2 - 31 May 2014 through 7 June 2014

ER -

Contact dynamics of massage compliant robotic arm and its coupled stability

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