User Force-Dependent Variable Impedance Control in Human-Robot Interaction

In this paper a novel type of variable impedance control (VIC) is presented. The controller adjusts the impedance depending on the force input of the user. In this way it is easy to accelerate and decelerate. Additionally, for high velocity the damping decreases and vice versa. This approach could b...

Full description

Bibliographic Details

Published in:	IEEE International Conference on Automation Science and Engineering (CASE) pp. 1328 - 1335
Main Authors:	Muller, Florian, Janetzky, Jan, Behrnd, Uwe, Jakel, Jens, Thomas, Ulrike
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.08.2018
Subjects:	Control systems Damping Force Human-robot interaction Observers Runtime Stability analysis
ISSN:	2161-8089
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!