Forward-back and back-forward drivable controls for human-robot interaction

In previous research, the back-forward drivability of load-side torque control system based on a motor-side acceler­ation control has proven to be high, but contact motion has not yet been realized in human-robot interaction such as powered exoskeleton and direct teaching. To address this issue, this study proposes a load-side torque control system that achieves both bouncing suppression and human-interaction. This paper focuses on load-side acceleration because the bouncing motion at environmental contact and the human-robot interaction motion are able to be evaluated to its performances intuitively. Human-robot interaction is applied in low-frequency, and bouncing suppression is applied in high-frequency. The experimental results verify the effectiveness of the proposed method.