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This paper focuses on back-forward drivability and defines the ideal drivability. This paper proposes a new backforward drivable control method that achieves vibration suppression while maintaining back-forward drivability for a two-inertia system. The proposed control system combines torsion torque control (TTC) and a motor-side normalization compensator (MNC) to facilitate human-robot interactions. The effectiveness of the proposed control system is verified based on numerical simulation and experimental results, and the vibration of the back-forward drivable response is drastically suppressed.

Smooth Human Interaction Control using Torsion Torque Controller and Motor-side Normalization Compensator Focusing on Back-forward Drivability