Mustafa S. Erden and Jochem A. Jonkman
Physical human–robot interaction, interactive control, social robotics
In this paper, an interactive control scheme is developed for physical human–robot interaction. The human interacts with the manipulator when it is stationary by applying impulsive forces in the form of push-and-pull. The magnitude and direction of the human force are estimated by observing the joint actuation currents. The reference position of the end-effector is updated based on the human-force information. The developed scheme does not use any force sensors, does not limit the interaction to any specific location, and uses very cheap and easy-to-mount current sensors. This paper shows that physical human–robot interaction can be achieved by using cheap equipment and well-known techniques that can easily be implemented on light-weight robots with back-drivable joints.
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