An optimal human-robot interaction velocity deformation method modified by admittance

YANG Ze; ZHANG Shiwu

Chinese

您当前的位置：

首页 >

文章列表页 >

An optimal human-robot interaction velocity deformation method modified by admittance

Calculation & Test | 更新时间：2026-01-22

- An optimal human-robot interaction velocity deformation method modified by admittance
- Vol. 45, Issue 1, Pages: 167-171(2026)
- 作者机构：
  
  中国科学技术大学工程科学学院,安徽,合肥,230027
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Published：2026
- 稿件说明：
移动端阅览
YANG Ze, ZHANG Shiwu. An optimal human-robot interaction velocity deformation method modified by admittance[J]. 2026, 45(1): 167-171.
DOI：

YANG Ze, ZHANG Shiwu. An optimal human-robot interaction velocity deformation method modified by admittance[J]. 2026, 45(1): 167-171. DOI：

摘要

为了提高物理人机交互的柔顺性和稳定性，针对阻抗控制方法容易产生震荡、需要操作者施加额外力等问题，开发并验证了一种基于约束最优化的物理人机交互方法。通过设计并求解约束优化问题，求解人机交互后一段时间内的机器人运动参考速度，并保证这段速度有最优的人机交互性能。借助导纳模型进一步修正机器人参考速度，使机器人对人机交互力的响应更符合自然接触关系。在单关节人机交互平台的验证实验中，约束最优化方法显著降低了机器人在响应人体运动过程中的抖动，在保证稳定性的前提下提升了机器人的顺应性。

Abstract

To improve the compliance and stability of physical human-robot interaction

a method of physical human-robot interaction based on constrained optimization is developed and validated

aiming at the problems of impedance control methods that are easy to produce oscillations and need operator to apply additional forces.By designing and solving a constrained optimization problem

the robot motion reference velocity is obtained for a certain period after human-robot interaction

ensuring this velocity has the optimal human-robot interaction performance.The reference velocity of robot is further refined using an admittance model

enhancing the robot’s response to human-robot interaction forces to better conform to the natural contact relationship.In validation experiments conducted on a single-joint human-robot interaction platform

the method of constrained optimization significantly reduces robot jitter while responding to human body motion

improving the robot’s compliance on the premise of ensuring stability.

关键词

Keywords

references

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Research on one-leg flexibility control of biped robot based on sliding mode impedance

Detection of human motion intention based on upper limb mechanical information

Impedance control of dexterous finger based on joint torque sensor

Related Author

ZHOU Qinyuan

SHAO Chenyang

SHAO Nianfeng

ZHAO Yan

WANG Ying-jian

ZUO Guo-kun

LIU Liang

LIU Yong-yong

Related Institution

School of Mechanical and Electrical Engineering,Central South University of Forestry and Technology

School of Mechatronic Engineering and Automation,Shanghai University

Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences

State Key Laboratory of Robotics and System,Harbin Institute of Technology

⁰