In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during certain activities of daily living (ADLs). Specifically, we propose a hybrid force/velocity/attitude control for a PHRI system based on measurements from a 6-axis force/torque sensor mounted on the robot wrist. While automatically aligning the end-effector surface with the unknown environmental (human) surface, a desired commanded force is applied in the normal direction while following desired velocity commands in the tangential directions. A Lyapunov based stability analysis is provided to prove both convergence as well as passivity of the interaction to ensure both performance and safety. Simulation as well as experimental results verify the performance and robustness of the proposed hybrid controller in the presence of dynamic uncertainties as well as safe physical human-robot interactions for a kinematically redundant robotic manipulator.

翻译：本文考虑了在人体与辅助机器人之间建立符合安全要求的接触的问题; 残疾用户在日常生活的某些活动(ADLs)中需要利用辅助机器人进行人体-机器人物理互动(PHRI),具体地说,我们提议根据安装在机器人手腕上的6轴力/托克传感器的测量结果,对PHRI系统进行混合力/速度/姿态控制; 将终端效应或表面与未知的环境(人类)表面自动对齐,同时在正常方向上应用理想的指令性力量,同时遵循正切方向所需的速度指令; 提供基于Lyapunov的稳定分析,以证明互动的趋同性以及被动性,以确保性能和安全; 模拟以及实验结果,在存在动态不确定性的情况下,对拟议混合控制器的性能和稳健性进行核查,同时为运动冗余机器人操控者提供安全的人体-机器人物理互动。