Año: 2018
Autores: Monllor, M.; Roberti, F.; Carelli, R.;
Resumen: Due to the increase number of people with disabilities, new solutions are needed to be able to assist them in their daily life and thus improve their living conditions. In the present work, an admittance controller is proposed for assistance robots sensitive to obstacles, focused on people with diminished visual capacities. The objective of the controller is to modify the damping parameter as a function of nearby objects to provide a haptic feedback to the user and allow him to approach the target object at a safe speed. The results in the simulation show the operation of the controller. Simulations are performed to observe specific behaviors of the controller and tests are carried out with a real robot. The results were satisfactory, the controller showed a good performance in detecting obstacles and allowing a safe approach through haptic feedback to the user.
Link: https://doi.org/10.23919/AADECA.2018.8577333