Harnessing the Power of Human Biomechanics in Force-Position Domain: A 3D Passivity Index Map for Upper Limb Physical Human-(Tele) Robot Interaction
Xingyuan Zhou,Peter Paik,S. Farokh Atashzar,Xingyuan Zhou,Peter Paik,S. Farokh Atashzar
In the context of physical human-(tele)robot interaction, passivity-based stabilizers have been used to guarantee the physical or (tele) physical stability. In most of these examples, human biomechanics is considered an inherently passive system that dissipates energy. This assumption may not hold true when the interaction is implemented in the force-position domain, even though such a setting wou...
