A disturbance observer for the sigma.7 haptic device

Author

Tobergte, Andreas ; Helmer, Patrick

Author_Institution

Inst. of Robot. & Mechatron., DLR - German Aerosp. Center, Wessling, Germany

fYear

2013

fDate

3-7 Nov. 2013

Firstpage

4964

Lastpage

4969

Abstract

This paper presents a disturbance observer for the sigma.7 haptic device. External torques on the haptic device links are observed to distinguish between intended user interaction and accidental collisions of the links. Collisions can be unintentional contact of the human operator, e.g. with his knee, other people accidentally getting in contact with the haptic device or objects falling on it. The observer is based on the dynamic model of the device and sensor measurements from the joint´s position sensors and an integrated force/torque sensor. Is is implemented concurrently with a control algorithm that uses the force/torque sensor to effectively reduce the inertia and friction of the sigma.7. Furthermore, forces and torques applied on the grasping unit by the human operator are observed. Experiments are done with the sigma.7 customized for the German Aerospace Center (DLR) by Force Dimension.

Keywords

force control; force measurement; force sensors; haptic interfaces; human-robot interaction; observers; position control; position measurement; torque control; torque measurement; DLR; Force Dimension; German Aerospace Center; accidental collisions; device measurement model; disturbance observer; friction reduction; inertial reduction; integrated force sensor; integrated torque sensor; intended user interaction; joint position sensors; sensor measurement model; sigma.7 haptic device; unintentional human operator contact; Dynamics; Force; Grasping; Observers; Robot sensing systems; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

Conference_Location

Tokyo

ISSN

2153-0858

Type

conf

DOI

10.1109/IROS.2013.6697073

Filename

6697073