Human-Machine Interaction Impedance Control Method with Force Tracking

Zhipeng Wang, Haixin Xu, Rong Jiang, Jiahang Liu

Keywords: human-robot interaction, impedance control

Abstract: One of the challenges in applying robotics technology to the healthcare domain is achieving safe and comfortable human-robot interaction. Impedance control is a simple and effective approach to address this issue. However, traditional impedance control fails to exhibit consistent force control in response to external environments, limiting its applicability in many human-robot interaction scenarios. In this paper, we propose a control method that combines impedance control with force control, enabling constant force tracking along a selected axis while maintaining traditional impedance control effects in other axes. This method is suitable for a wider range of interactive scenarios. We validate the proposed method through collaborative tabletop wiping tasks.

Submission Number: 4