Motion loading system taking into account the variable control stiffness and human reactions

This paper aims to develop the motion loading system taking into account the variable control impedance and human reactions. In the motion saving phase, a four channel bilateral controller with a micro-vibration is utilized for the purpose of obtaining not only position and force responses to human motion but also the human impedance. In the motion loading phase, the hybrid angle and the human impedance are loaded in addition to position and force commands by referring from a motion database. Experiments were conducted for verifying the effectiveness of proposed method.