Variable Damping Control for pHRI: Considering Stability, Agility, and Human Effort in Controlling Human Interactive Robots - Zahedi, Fatemeh; Arnold, James; Phillips, Connor; Lee, Hyunglae (IEEE transactions on human-machine systems, 2021)
Keywords: Agility; Control stability; Controllers; Damping; End effectors; Energy dissipation; Extremities; human effort; Human engineering; Human-robot interaction; Impedance; Interactive control; Mathematical analysis; Muscles; Performance measurement; physical human robot interaction; Rehabilitation; Robot arms; Stability; Tradeoffs; Tuning; variable impedance control