Intuitive Force Feedback for Robot-Assisted Load Transport

Abstract

This paper introduces a force-guided robotic platform that aims to reduce musculoskeletal injuries in manufacturing and healthcare environments. The platform utilizes force feedback algorithms, system modeling with distinct force and virtual torque processing, and virtual dynamics for seamless control of heavy loads. Similar mobile robot platforms in previous studies were designed for rehabilitation purposes. This study focuses on heavy-duty applications using a cost-effective load cell configuration on a differential drive system. We propose a novel model that simplifies the human-robot interaction analysis by decomposing pushing forces into linear and rotational components represented by a combination of linear and rotational spring-damper systems. These elements are integrated into the dynamics of the mobile robot platform for a comprehensive representation of human-robot interaction. Additionally, we developed a new control method to counteract large force fluctuations and anti-integral windup with dynamic clamping to improve system robustness.