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