A robot for overground physical human-robot interaction experiments.
Journal
PloS one
ISSN: 1932-6203
Titre abrégé: PLoS One
Pays: United States
ID NLM: 101285081
Informations de publication
Date de publication:
2022
2022
Historique:
received:
09
03
2022
accepted:
18
10
2022
entrez:
10
11
2022
pubmed:
11
11
2022
medline:
15
11
2022
Statut:
epublish
Résumé
Many anticipated physical human-robot interaction (pHRI) applications in the near future are overground tasks such as walking assistance. For investigating the biomechanics of human movement during pHRI, this work presents Ophrie, a novel interactive robot dedicated for physical interaction tasks with a human in overground settings. Unique design requirements for pHRI were considered in implementing the one-arm mobile robot, such as the low output impedance and the ability to apply small interaction forces. The robot can measure the human arm stiffness, an important physical quantity that can reveal human biomechanics during overground pHRI, while the human walks alongside the robot. This robot is anticipated to enable novel pHRI experiments and advance our understanding of intuitive and effective overground pHRI.
Identifiants
pubmed: 36355780
doi: 10.1371/journal.pone.0276980
pii: PONE-D-22-07060
pmc: PMC9648723
doi:
Types de publication
Journal Article
Research Support, U.S. Gov't, Non-P.H.S.
Langues
eng
Sous-ensembles de citation
IM
Pagination
e0276980Informations de copyright
Copyright: © 2022 Regmi et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
Déclaration de conflit d'intérêts
The authors have declared that no competing interests exist.
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