Cooperative motion control of a robot and a human

Robots are expected to be human-friendly and to execute tasks cooperating with humans. The control system for the robots should be constructed so as to work adaptively with human characteristics. In this paper, human characteristics in a cooperation task by two humans is analyzed and it is shown that the human performance can be expressed by impedance control. We then applied the principle in making a robot and a human to execute a cooperative task. It is shown that the impedance parameters obtained in the experiment performed by two humans gave the best result for robot´s cooperation with human