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Virtual Fixture Control for Compliant Human-Machine Interfaces. Panadda Marayong*, Hye Sun Na + , and Allison M. Okamura* *Mechanical Engineering Department , Johns Hopkins University, USA + Biomedical Engineering Department, University of Texas at Austin , USA. - PowerPoint PPT Presentation
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Virtual Fixture Control for Compliant Human-Machine Interfaces
• Virtual Fixtures provide motion guidance in human-machine cooperative manipulation.
• Position errors due to robot compliance and hand dynamics degrade virtual fixture performance.
• Newly developed Dynamically-Defined Virtual Fixtures consider joint compliance and human hand dynamics.
• Two user experiments demonstrate significant performance improvement with this method.
Panadda Marayong*, Hye Sun Na+, and Allison M. Okamura* *Mechanical Engineering Department, Johns Hopkins University, USA
+Biomedical Engineering Department, University of Texas at Austin, USA
JHU Steady-Hand Robot and 1-DOF Compliant Human-Machine Testbed
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