In the design of a compliant admittance controller for physical human-robot interaction, it is
necessary to ensure stable and effective cooperation. The stability of the admittance …

Admittance control allows a desired dynamic behavior to be reproduced on a non-
backdrivable manipulator and it has been widely used for interaction control and, in …

In teleoperation, a force feedback device is a medium to build a transparent interaction
environment between a human and a remote robotic arm. Using force feedback devices, the …

In this study, a humanoid prototype of 2-DOF (degrees of freedom) lower limb exoskeleton is
introduced to evaluate the wearable comfortable effect between person and exoskeleton. To …

This paper presents a time-domain vibration observer and controller for physical Human-
Robot Interaction (pHRI). The proposed observer/controller aims at reducing or eliminating …

In the near future, collaborative robots (cobots) are expected to play a vital role in the
manufacturing and automation sectors. It is predicted that workers will work side by side in …

Physical human–robot interaction may present an obstacle to transparency and operations'
intuitiveness. This barrier could occur due to the vibrations caused by a stiff environment …

This paper presents hand-impedance measurements during laparoscopic training with
physically interactive manipulators. We develop a co-manipulated robotic system allowing …

This study investigates the relationship between electroencephalogram (EEG) activity and
motor control difficulty during physical interaction with an admittance controlled robot …

The regular admittance controller cannot be easily transferred to the physical human–robot
interaction scenario because of the dynamic stiffness of the human arm. The dynamic …