Stable Physical Human-Robot Interaction Using Fractional Order Admittance Control

@article{Aydin2018StablePH,
  title={Stable Physical Human-Robot Interaction Using Fractional Order Admittance Control},
  author={Yusuf Aydin and Ozan Tokatli and Volkan Patoglu and Cagatay Basdogan},
  journal={IEEE Transactions on Haptics},
  year={2018},
  volume={11},
  pages={464-475}
}
In the near future, humans and robots are expected to perform collaborative tasks involving physical interaction in various environments, such as homes, hospitals, and factories. Robots are good at precision, strength, and repetition, while humans are better at cognitive tasks. The concept, known as physical human-robot interaction (pHRI), takes advantage of these abilities and is highly beneficial by bringing speed, flexibility, and ergonomics to the execution of complex tasks. Current… CONTINUE READING

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