Fine Human Interaction Road Map Based on Wideband Sensor-less Force Control

抄録

Robotic systems in which robots perform the tasks involving interaction with environments or human require not only successfully controlled tasks but also safe interaction. Force control has a vital role in these robotic systems to realize the fine human interaction. The high performance force sensation is greatly essential for force control to achieve the successful executions and safe interactions because the performance of the force control system is dependent on the accuracy of the force sensation. In order to achieve the high performance force sensation, the wideband force sensing is absolutely necessary to be attained. Therefore, this paper introduces the wideband sensor-less force control approach to realize the fine human interaction.