Jul 2026· 2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)· pp. 1-6· 0 citations· 22 references
Abstract
The present work introduces a transition strategy to implement a hybrid force/admittance control scheme for collaborative robots in physical Human-Robot Interaction (pHRI). The architecture utilizes orthogonal projections to decouple force and motion subspaces. By evaluating the magnitude and time derivatives of a 6-DoF force sensor, a continuous transition function is synthesized to discriminate between intentional human contact and accidental impacts. The method enables the system to switch between admittance and hybrid control modes, eliminating control discontinuities. Uniform Ultimate Boundedness (UUB) of the closed-loop system is proven via Lyapunov analysis. Validation on an xArm-5 manipulator confirms that the transition bounds the error energy during impacts, enhancing safety and versatility during execution.
Physical human-robot interaction (pHRI) offers considerable potential for improving task efficiency and alleviating operator workload. Nevertheless, the intrinsic variability of human motion intention (HMI) and robot model uncertainties pose substantial challenges to achieving accurate coordinated control. To address t...
Chengguo Liu, Hefu Ye, Kai Zhao· IEEE Transactions on Automat...· 0 citations
Simulation studies indicate that the proposed strategy effectively enables stroke patients to execute active training tasks on the robotic exoskeleton.
Xing-Long Pei, Li-Qun Wen, Jian-Hui Wang· International Journal of Rob...· 0 citations
Safe and intuitive human robot interaction (HRI) requires precise regulation of contact forces and torques while adapting to dynamic and uncertain human behavior. Traditional impedance and admittance control strategies rely on fixed parameters and accurate system modeling, which often limit their performance in unstruc...
Vishal Khanna· i-manager's Journal on Augme...· 0 citations
An adaptive control framework for mobile manipulators to seamlessly balance autonomous task execution with human intervention during physical human–robot interaction and treats the mobile manipulator as a unified redundant system rather than two separate entities is proposed.
This paper develops a contact-control scheme for multi-degree-of-freedom (DOF) robot arms that relies on dynamic impedance to jointly improve precision, stability, and robustness. Classical impedance controllers keep stiffness, damping, and inertia fixed, which limits how well they adapt as operating conditions change....
Kaisei Hosoyama, Qingjiu Huang· 2026 IEEE International Conf...· 0 citations
This paper presents a formation-preserving control strategy that suppresses such unnecessary motion while retaining the standard APF behavior when robots are far from their desired positions and establishes local exponential stability and positive invariance of a neighborhood of the desired configuration.
Wojciech Kowalczyk, Arpit Joon, P. Herman· Applied Sciences· 0 citations
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