A Robot for Overground Physical Human-robot Interaction Experiments

Overview

Journal PLoS One

Specialties General Medicine
Science

Date 2022 Nov 10

PMID 36355780

Authors

Sambad Regmi

Devin Burns

Yun Seong Song

Affiliations

Soon will be listed here.

Abstract

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.

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