Skip to main content
    • Aa
    • Aa

Kinematic modeling and control for human-robot cooperation considering different interaction roles

  • B. V. Adorno (a1), A. P. L. Bó (a2) and P. Fraisse (a3)

This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).

Corresponding author
*Corresponding author. E-mail:
Linked references
Hide All

This list contains references from the content that can be linked to their source. For a full set of references and notes please see the PDF or HTML where available.

1. S. S. Groothuis , S. Stramigioli and R. Carloni , “Lending a helping hand: Toward novel assistive robotic arms,” IEEE Robot. Autom. Mag. 20 (1), 2029 (Mar. 2013).

2 A. De Santis , B. Siciliano , A. De Luca and A. Bicchi , “An atlas of physical human-robot interaction,” Mech. Mach. Theory 43 (3), 253270 (Mar. 2008).

3. M. A. Goodrich and A. C. Schultz , “Human-robot interaction: A survey,” Found. Trends Hum.-Comput. Interact. 1 (3), 203275 (2007).

5. T. Takubo , H. Arai , Y. Hayashibara and K. Tanie , “Human-robot cooperative manipulation using a virtual nonholonomic constraint,” Int. J. Robot. Res. 21 (5–6), 541553 (May 2002).

6. A. Mortl , M. Lawitzky , A. Kucukyilmaz , M. Sezgin , C. Basdogan and S. Hirche , “The role of roles: Physical cooperation between humans and robots,” Int. J. Robot. Res. 31 (13), 16561674 (Aug. 2012).

7. H. I. Krebs , N. Hogan , M. L. Aisen and B. T. Volpe , “Robot-aided neurorehabilitation,” IEEE Trans. Rehabil. Eng. 6 (1), 7587 (Mar. 1998).

9. T. L. Chen , M. Ciocarlie , S. Cousins , P. M. Grice , K. Hawkins , C. C. Kemp , D. A. Lazewatsky , A. E. Leeper , A. Paepcke , C. Pantofaru , W. D. Smart and L. Takayama , “Robots for humanity: Using assistive robotics to empower people with disabilities,” IEEE Robot. Autom. Mag. 20 (1), 3039 (Mar. 2013).

10. E. Sisbot , L. Marin-Urias , X. Broquère , D. Sidobre and R. Alami , “Synthesizing robot motions adapted to human presence,” Int. J. Soc. Robot. 2 (3), 329343 (2010).

21. P. Chiacchio , S. Chiaverini and B. Siciliano , “Direct and inverse kinematics for coordinated motion tasks of a two-manipulator system,” J. Dyn. Syst. Meas. Control 118 (4), 691 (1996).

26. S. Chiaverini , “Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators,” IEEE Trans. Robot. Autom. 13 (3), 398410 (Jun. 1997).

28 Bruno Siciliano , Lorenzo Sciavicco , Luigi Villani , and Giuseppe Oriolo . Robotics: modelling, planning and control. Springer Verlag, 2009.

29. D. B. Popovic and T. Sinkjaer , Control of Movement for the Physically Disabled: Control for Rehabilitation Technology (Springer, London, UK, 2000).

32. L. Sentis and O. Khatib , “Synthesis of whole-body behaviors through hierarchical control of behavioral primitives,” Int. J. Humanoid Robot. 2 (4), 505518 (2005).

33. N. Mansard and F. Chaumette , “Task sequencing for high-level sensor-based control,” IEEE Trans. Robot. 23 (1), 6072 (Feb. 2007).

34. N. Mansard , O. Khatib and A. Kheddar , “A unified approach to integrate unilateral constraints in the stack of tasks,” IEEE Trans. Robot. 25 (3), 670685 (Jun. 2009).

35. O. Kanoun , F. Lamiraux and P.-B. Wieber , “Kinematic control of redundant manipulators: Generalizing the task-priority framework to inequality task,” IEEE Trans. Robot. 27 (4), 785792 (Aug. 2011).

Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *



Full text views

Total number of HTML views: 0
Total number of PDF views: 60 *
Loading metrics...

Abstract views

Total abstract views: 332 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 26th September 2017. This data will be updated every 24 hours.