Closing a Research Loop between Robots and Humans on Online Impedance Adaptation Control

Variable Impedance control allows robots and hu-mans to safely and efficiently interact with unknown externalenvironments. This abstract introduces online impedance adap-tation control (OIAC) for variable compliant joint motions ina range of control tasks: rapid (< 1s) movement control (i.e.,whipping to hit [1]), arm and finger impedance quantification [2],multifunctional exoskeleton control [3], and robot-inspired hu-man arm control hypothesis [4]. The OIAC has been introducedas feedback control, which can be integrated into feedforwardcontrol models. This integration facilitates the understanding ofhuman and robot arm control, closing a research loop betweenrobots and humans. It contributes to ERF2023 by providingan online impedance adaptation controller for human-robotcollaboration control which can be beneficial in robotic andbiomechanical research.