A physical Human Robot Interaction architecture for flexible joint robots

Abstract

In this work a physical Human Robot Interaction (pHRI) architecture for flexible joint robot is proposed. At its core, a prescribed performance tracking controller is designed at the operational space, to guarantee fast, accurate and robust position tracking. Assuming that a sensing and interpretation task of the human touch is accomplished, a position reference shaping signal reflecting the desired robot reaction is produced. Simulation studies are performed to clarify and verify the approach.