Enhanced Transparency for Physical Human-robot Interaction using Human Hand Impedance Compensation

In a physical human-robot interaction (pHRi) system, improving transparency that allows humans to move as if there is no robot is a challenging topic. In general pHRi, usage of the multiaxial force sensor for robot control is the norm. However, the signal measured from the force sensor contains not only the force applied to the robot by the human motion intention but also the influence of the natu...