Variable Impedance Control for Safety and Usability in Telemanipulation

Stephan Andreas Schwarz,Ulrike Thomas,Stephan Andreas Schwarz,Ulrike Thomas

In recent years, haptic telemanipulation has been introduced to control robots remotely with an input device that generates force feedback. Compliant control strategies are needed to ensure safe interaction between humans and robots. Accurate and precise manipulation requires a stiff setup of the impedance parameters, while safety demands for low stiffness. This paper proposes an impedance-based c...