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This paper presents the development of a human-robot interface and a modified impedance controller, which generate robot motion which is appropriate for a human-robot interaction. The proposed control system enables a human operator to interact with the robot intuitively and stably. The proposed interface can simultaneously detect relative motion data as(More)
In this study, a human-machine interface device and a motion controller are developed for a human-machine interactive system. The interface device can simultaneously detect relative positional data as well as force data generated between the human operator and the robot during their interaction. Our proposed modified admittance controller is designed to(More)
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