A μ-synthesis based control for compliant manoeuvres

This paper presents a controller design based on μ synthesis for compliant manoeuvres, which enables a robust force feedback without using a force sensor. The controller maintains robust stability against uncertainties existing in both environment and human dynamics, which contributes to dexterous manipulation. The controller is implemented on the human power extender which is worn by a human and amplifies the human´s physical strength, while the human´s intelligence remains as the central control system for manipulation