Stability analysis for a passive/active human model in physical human–robot interaction with multiple users. Issue 9 (1st September 2020)

• Record Type: Journal Article
• Authors: Müller, Florian; Jäkel, Jens; Thomas, Ulrike
• Is Part Of: International journal of control. Volume 93:Issue 9(2020)
• Page Start: 2104
• Page End: 2119
• Publication Date: 2020-09-01
• Subjects: Physical human–robot interaction -- nonlinear time-delay systems -- Lyapunov–Krasovskii functional -- human–robot–human -- impedance control; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2018.1541508
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: Human–robot–human interaction (HRH), understood as a physical human–robot interaction (pHRI) with two humans, can be applied when lifting heavy, bulky and large-sized objects with a robot. In combination with a virtual environment, this system can become nonlinear. In this article, we prove sufficient stability conditions for a stationary point of such a particular type of nonlinear multiple time-delay systems. In addition, a new human model consisting of a passive and an active part will be introduced and validated on experimental data. The derived stability conditions are applied to a single-user pHRI system including this human model. The results indicate that these conditions are very conservative. Then four approaches for the analysis of a multi-user pHRI are introduced and compared with each other. Finally, a potential HRH application with a nonlinear environment in the form of a potential force field is presented.