Active Impedance Control for Comfort of Piggyback Transfer Robot

In order to improve the comfort of piggyback transfer robot, an active impedance control method based on position inner loop is proposed. The objective of this control method is to take the ideal axillary force as the outer loop control target and the chest holder angle adjustment as the inner loop control target. By using MATLAB and LabVIEW software, the control program of the piggyback transfer robot is built, and the impedance control system is established. A human-robot interaction experiment is designed to verify the effect of the established active impedance control on the axillary force of the care-receivers.