General Model of Human-Robot Cooperation Using a Novel Velocity Based Variable Impedance Control

In the future, robots will have to assist human beings in the performance of several tasks. In order to achieve this goal, robots have to be able to follow human movement in a way that is transparent to the human operator. This paper presents a new method to make this cooperation more transparent. The method is based on an online variable impedance control using differentiation of the force as a natural sensor of human intention. This work will also demonstrate why velocity control should be used in the controller of a human-friendly robot rather than typical position control. The performance of the control scheme introduced here is also validated in an experimental cooperative drawing task involving a parallel manipulator and a human operator