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 …

Surgical robots have been widely adopted with over 4000 robots being used in practice
daily. However, these are telerobots that are fully controlled by skilled human surgeons …

Admittance control allows a desired dynamic behavior to be reproduced on a non-
backdrivable manipulator and it has been widely used for interaction control and, in …

This article introduces recurrent equilibrium networks (RENs), a new class of nonlinear
dynamical models for applications in machine learning, system identification, and control …

In contexts where robots share their workspace with humans, safety is of utmost importance.
Consequently, in recent years, a big impulse has been given to the design of human-friendly …

In this article, a new learning-based time-varying impedance controller is proposed and
tested to facilitate an autonomous physical human–robot interaction (pHRI). Novel …

In physical human-robot interaction, the coexistence of robots and humans in the same
workspace requires the guarantee of a stable interaction, trying to minimize the effort for the …

The advent of telerobotic systems has revolutionized various aspects of the industry and
human life. This technology is designed to augment human sensorimotor capabilities to …

This article presents a hierarchical passivity-based compliance controller that exploits robot
redundancy and aims at achieving an impedance behavior with a time-varying stiffness on …