Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction

Seung Yun Song, Yixiang Guo, Chentai Yuan, Nadja Marin, Chenzhang Xiao, Adam Bleakney, Jeannette Elliott, Joao Ramos, Elizabeth T. Hsiao-Wecksler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We designed and validated two interfaces for physical human-robot interaction that utilize torso motions for hands-free navigation control of riding or remote mobile robots. The Torso-dynamics Estimation System (TES), which consisted of an instrumented seat (Force Sensing Seat, FSS) and a wearable sensor (inertial measurement unit, IMU), was developed to quantify the translational and rotational motions of the torso, respectively. The FSS was constructed from six uniaxial loadcells to output 3D resultant forces and torques, which were used to compute the translational movement of the 2D center of pressure (COP) under the seated user. Two versions of the FSS (Gen 1.0 and 2.0) with different loadcell layouts, materials, and manufacturing methods were developed to showcase the versatility of the FSS design and construction. Both FSS versions utilized low-cost components and a simple calibration protocol to correct for dimensional inaccuracies. The IMU, attached on the user's upper chest, used a proprietary algorithm to compute the 3D torso angles without relying heavily on magnetometers to minimize errors from electromagnetic noises. A validation study was performed on eight test subjects (six able-bodied users and two manual wheelchair users with reduced torso range of motion) to validate TES estimations by comparing them to data collected on a research-grade force plate and motion capture system. TES readings displayed high accuracy (average RMSE of 3D forces, 3D torques, 2D COP, and torso angles were well less than maximum limits of 5N, 5Nm, 10mm, and 6°, respectively).

Original languageEnglish (US)
Title of host publication2023 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023
PublisherIEEE Computer Society
Pages171-178
Number of pages8
ISBN (Electronic)9798350336702
DOIs
StatePublished - 2023
Event32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023 - Busan, Korea, Republic of
Duration: Aug 28 2023Aug 31 2023

Publication series

NameIEEE International Workshop on Robot and Human Communication, RO-MAN
ISSN (Print)1944-9445
ISSN (Electronic)1944-9437

Conference

Conference32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023
Country/TerritoryKorea, Republic of
CityBusan
Period8/28/238/31/23

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Software

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