Impedance control for multi-point human-robot interaction

In this paper, impedance control is discussed for multi-point human-robot interaction. The impedance parameters at each interaction point are obtained by taking the environment dynamics into consideration. An optimization method is proposed to deal with the over-constrained problem along with the multipoint interaction control. The desired impedance model in the joint space is accordingly developed. A model-free control method is utilized to guarantee the robot dynamics governed by the desired model. The validity of the proposed methods is verified through simulation.