On-Line Feasible Wrench Polytope Evaluation Based on Human Musculoskeletal Models: An Iterative Convex Hull Method

Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting human-centered robot control, where the continuously adapts its assistance level based on real-time need of human counterpart. One fundamental assumptions these approaches is ability to measure or estimate physical capacity humans in real-time. In this work, we propose an algorithm for feasibility set analysis a generic class linear algebra problems. This novel iterative convex-hull method applied determination feasible cartesian wrench polytope associated musculoskeletal model upper limb. The capable running and allows user define desired estimation accuracy. performance shows that execution time has near-linear relationship considered number muscles, opposed exponential conventional methods. Finally, control application demonstrated xmlns:xlink="http://www.w3.org/1999/xlink">Collaborative carrying experiment, operator xmlns:xlink="http://www.w3.org/1999/xlink">Franka Emika Panda jointly carry 7 kg object. controlled accordance AAN paradigm maintaining load carried by at 30% carrying capacity.