ArticleSensors (Basel, Switzerland)2021
Variable Admittance Control Based on Human-Robot Collaboration Observer Using Frequency Analysis for Sensitive and Safe Interaction.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers, 1 of them a synthesis that pooled it.
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Who cites it
6 citing papers in PubMed, 1 synthesis or guideline pooled it.
- A comprehensive review and bibliometric analysis on collaborative robotics for industry: safety emerging as a core focus.Frontiers in robotics and AI · 2025Pooled it
- Intelligent Robot-Aided, Task-Oriented Physiotherapy Method for Upper Limb Rehabilitation: Development and Usability Study.JMIR rehabilitation and assistive technologies · 2026Article
- Embedded Adaptive Admittance Control for a Modular Hip Exoskeleton Using Deep Learning-Based Gait-Phase Estimation.Sensors (Basel, Switzerland) · 2026Article
- Variable Impedance Control for Force Tracking in Multi-Mode Robotic Back Massage.Sensors (Basel, Switzerland) · 2026Article
- Adaptive robot guidance through real-time compliance estimation and dual-modal control.Communications engineering · 2026Article
- Robot Learning Method for Human-like Arm Skills Based on the Hybrid Primitive Framework.Sensors (Basel, Switzerland) · 2024Article
Corrections and comments
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Authors and funding
2 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
A collaborative robot should be sensitive to the user intention while maintaining safe interaction during tasks such as hand guiding. Observers based on the discrete Fourier transform have been studied to distinguish between the low-frequency motion elicited by the operator and high-frequency behavior resulting from system instability and disturbances. However, the discrete Fourier transform requires an excessively long sampling time. We propose a human-robot collaboration observer based on an infinite impulse response filter to increase the intention recognition speed. By using this observer, we also propose a variable admittance controller to ensure safe collaboration. The recognition speed of the human-robot collaboration observer is 0.29 s, being 3.5 times faster than frequency analysis based on the discrete Fourier transform. The performance of the variable admittance controller and its improved recognition speed are experimentally verified on a two-degrees-of-freedom manipulator. We confirm that the improved recognition speed of the proposed human-robot collaboration observer allows us to timely recover from unsafe to safe collaboration.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.