Robots that physically interact with their surroundings, in order to accomplish some tasks or
assist humans in their activities, require to exploit contact forces in a safe and proficient …

In this survey, various concepts and methodologies developed over the past two decades for
varying and learning the impedance or admittance of robotic systems that physically interact …

This paper presents an overview of admittance control as a method of physical interaction
control between machines and humans. We present an admittance controller framework and …

Robots are becoming safe and smart enough to work alongside people not only on
manufacturing production lines, but also in spaces such as houses, museums, or hospitals …

Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled,
hazardous, or inaccessible environments. The human closes the control loop sending haptic …

Bilateral haptic teleoperation systems allow humans to perform complex tasks in a remote or
inaccessible environment, while providing haptic feedback to the human operator. The …

In the future, robots will have to assist human beings in the performance of several tasks. In
order to achieve this goal, robots have to be able to follow human movement in a way that is …

Abstract Human–Robot Collaboration (HRC) is a term used to describe tasks in which robots
and humans work together to achieve a goal. Unlike traditional industrial robots …

In order for robots to successfully carry out manipulation tasks, they require to exploit contact
forces and variable impedance control. The conditions of such type of robotic tasks may …

With recent advances in safe and compliant hardware and control, robots are close to
finding their places in our homes. As the safety barrier between humans and robots is …