Variable Damping Control for pHRI: Considering Stability, Agility, and Human Effort in Controlling Human Interactive Robots

This article presents a multi-degree-of-freedom variable damping controller to manage the trade-off between stability and agility and to reduce user effort in physical human-robot interaction. The controller accounts for the human body's inherent impedance properties and applies a range of robotic damping from negative (energy injection) to positive (energy dissipation) values based on the user's ...