Redundancy resolution in human-robot co-manipulation with cartesian impedance control

In this paper the role of redundancy in Cartesian impedance control of a robotic arm for the execution of tasks in co-manipulation with humans is considered. In particular, the problem of stability is experimentally investigated. When a human operator guides the robot through direct physical interaction, it is desirable to have a compliant behaviour at the end effector according to a decoupled impedance dynamics. In order to achieve a desired impedance behaviour, the robot’s dynamics has to be suitably reshaped by the controller. Moreover, the stability of the coupled human-robot system should be guaranteed for any value of the impedance parameters within a prescribed region. If the robot is kinematically or functionally redundant, also the redundant degrees of freedom can be used to modify the robot dynamics. Through an extensive experimental study on a 7-DOF KUKA LWR4 arm, we compare two different strategies to solve redundancy and we show that, when redundancy is exploited to ensure a decoupled apparent inertia at the end effector, the stability region in the parameter space becomes larger. Thus, better performance can be achieved by using, e.g., variable impedance control laws tuned to human intentions

The Role of Impedance Modulation and Redundancy Resolution in Human-Robot Interaction

In this work, redundancy resolution and impedance modulation strategies have been employed to enhance intuitiveness and stability in physical human-robot interaction during co-manipulation tasks. An impedance strategy to control a redundant manipulator is defined in the Cartesian space. Different modulation laws for the impedance parameters are tested in combination with different strategies to solve redundancy. The stability of the coupled human-robot system is guaranteed ensuring that the impedance parameters vary in a range evaluated experimentally. Through an extensive experimental study on a 7-DOF KUKA LWR4 arm, we show that using redundancy to decouple the equivalent inertia at the end-effector enables a more flexible choice of the impedance parameters and improves the performance during manual guidance. Moreover, variable impedance is more performant with respect to constant impedance due to a favourable compromise between accuracy and execution time and the enhanced comfort perceived by humans during manual guidance

Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

This paper presents an experimental study on human-robot comanipulation in the presence of kinematic redundancy. The objective of the work is to enhance the performance during human-robot physical interaction by combining Cartesian impedance modulation and redundancy resolution. Cartesian impedance control is employed to achieve a compliant behavior of the robot's end effector in response to forces exerted by the human operator. Different impedance modulation strategies, which take into account the human's behavior during the interaction, are selected with the support of a simulation study and then experimentally tested on a 7-degree-of-freedom KUKA LWR4. A comparative study to establish the most effective redundancy resolution strategy has been made by evaluating different solutions compatible with the considered task. The experiments have shown that the redundancy, when used to ensure a decoupled apparent inertia at the end effector, allows enlarging the stability region in the impedance parameters space and improving the performance. On the other hand, the variable impedance with a suitable modulation strategy for parameters' tuning outperforms the constant impedance, in the sense that it enhances the comfort perceived by humans during manual guidance and allows reaching a favorable compromise between accuracy and execution time

Impedance control of redundant manipulators for safe human-robot collaboration

In this paper, the impedance control paradigm is used to design control algorithms for safe human-robot collaboration. In particular, the problem of controlling a redundant robot manipulator in task space, while guaranteeing a compliant behavior for the redundant degrees of freedom, is considered first. The proposed approach allows safe and dependable reaction of the robot during deliberate or accidental physical interaction with a human or the environment, thanks to null-space impedance control. Moreover, the case of control for co-manipulation is considered. In particular, the role of the kinematic redundancy and that of the impedance parameters modulation are investigated. The algorithms are verified through experiments on a 7R KUKA lightweight robot arm

Cartesian impedance control of redundant manipulators for human-robot co-manipulation

This paper addresses the problem of controlling a robot arm executing a cooperative task with a human who guides the robot through direct physical interaction. This problem is tackled by allowing the end effector to comply according to an impedance control law defined in the Cartesian space. While, in principle, the robot's dynamics can be fully compensated and any impedance behaviour can be imposed by the control, the stability of the coupled human-robot system is not guaranteed for any value of the impedance parameters. Moreover, if the robot is kinematically or functionally redundant, the redundant degrees of freedom play an important role. The idea proposed here is to use redundancy to ensure a decoupled apparent inertia at the end effector. Through an extensive experimental study on a 7-DOF KUKA LWR4 arm, we show that inertial decoupling enables a more flexible choice of the impedance parameters and improves the performance during manual guidance

Experimental Test of Synergies Computed on the SCHUNK S5FH under-actuated Hand

In this paper, a method for synergies calculation developed for an anthropomorphic 15 DOFs hand, characterized by one to one mapping between configuration space and fingertip position in the Cartesian space, has been tested on the under-actuated SCHUNK S5FH anthropomorphic hand. The grasping capabilities of the hand controlled in a three dimension synergies subspace have been tested. The results demonstrate that the data set of grasps, measured on human hands, and the mapping method of human hand synergies, based on fingertip measurements and inverse kinematics, is efficient enough to compute suitable synergies subspace where it is possible to plan and control anthropomorphic hands for grasping actions, despite on the hand kinematics and actuation system

High‐Resolution Seismic Imaging of Fault‐Controlled Basins: A Case Study From the 2009 Mw 6.1 Central Italy Earthquake

We present the first seismic reflection images of the Paganica and Bazzano basins, two tectonic basins developed in the hanging wall of the Paganica-San Demetrio Fault System, the causative fault of the 2009 Mw 6.1 L'Aquila earthquake, Italy. Five high-resolution seismic profiles were acquired along a main, 7 km long transect cutting across the strands of an active fault system in urbanized areas with widespread sources of seismic noise. Three processing approaches were chosen to tackle a variable and site-dependent data quality . To aid interpretation of this complex setting, we complemented seismic amplitude images with energy and similarity attributes as well with post-stack acoustic impedance inversion. The final seismic sections expose, with unprecedented resolution, the basins' structure and the uppermost splays of the 2009 earthquake. The seismic data show fine details of the subsurface stratigraphic setting, revealing continental depocenters carved in the marine Meso-Cenozoic substratum and displaced by a series of conjugate normal faults, mostly unknown before this study. Several of the imaged fault strands connect to the 2009 coseismic surface ruptures. Matching the seismic interpretation with constraints from surface geology and shallow boreholes, published data from field surveys and scientific drilling, we present a structural map of the Bazzano and Paganica basins with an estimation of the depth of the Meso-Cenozoic substratum. This map highlights a different structure, evolution, and age of the two basins, with the older Bazzano basin that likely began to form in late Pliocene

A judicialização das políticas públicas na área da saúde e seus impactos no orçamento dos municípios do estado do Paraná

Resumo: Trata a presente monografia da judicialização das políticas públicas e seus impactos no orçamento dos Municípios paranaenses. Seu escopo é apresentar a incidência das decisões judiciais sobre o Poder Executivo Municipal do Estado do Paraná, tecendo comentários e críticas baseados na pesquisa doutrinária e jurisprudencial. Para tanto, busca-se discorrer primeiramente sobre o direito à saúde. Estabelecidas as premissas constitucionais, bem como expostas as divergências doutrinárias, serão abordadas noções orçamentárias e decisões judiciais relacionadas ao tema propost

Human Motion Mapping to a Robot Arm with Redundancy Resolution

The problem of image based visual servoing for robots working in a dynamic environment is addressed in this paper. It is assumed that the environment is observed by depth sensors which allow to measure the distance between any moving obstacle and the robot. The main idea is to control suitable image moments during the interaction phase to relax a certain number of robot’s degrees of freedom. If an obstacle approaches the robot, the main visual servoing task is attenuated or completely abandoned while the image features are kept in the camera field of view by controlling the image moments. Fuzzy rules are used to set the reference values for the controller. Beside that, the relaxed redundancy of the robot is exploited to avoid collisions as well. After removing the risk of collision, the main visual servoing task is resumed. The effectiveness of the algorithm is shown by several case studies on a KUKA LWR 4 robot arm

Exciton dynamics in hybrid polymer/QD blends

Abstract The prospect of exploiting quantum dots (QDs) properties (tunable absorption spectrum, multiple exciton generation) while maintaining the flexible structure of polymer systems opens new possibilities in the photovoltaic field. Although charge transport dynamics in pristine polymer and QDs systems have been quite well established lately, a complete understanding of the charge transfer process between QDs and polymers when they are in blends is still lacking. In this work we used static and ultrafast fluorescence spectroscopy together with Atomic force Microscopy (AFM) to study the exciton dynamics in polymer/QDs films. Specifically we used poly(3-hexylthiophene) (P3HT) as the hole conducting donor material and the core shell CdSe(ZnS) QDs as the electron acceptor material. The QDs surface has been treated with two different capping ligands treatments: one based on the use of pyridine and the other one on hexanoic acid. The influence of the two different methods on the exciton dynamics and on the morphology will also be discussed. Blends containing differently treated P3HT/CdSe(ZnS) wt% ratios have been prepared producing films having uniform morphology and good intermixing, as proved by AFM measurements. Ultrafast fluorescence decays allowed us to compare the exciton dynamics in the polymer pristine respect to the treated P3HT/CdSe(ZnS) films. Efficient fluorescence quenching has been shown by both kind of blends respect to the pure polymer