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In this paper, we propose a novel safe, passive, and robust control law formechanical systems. The proposed approach addresses safety from a physicalhuman-robot interaction perspective, where a robot must not only stay inside apre-defined region, but respect velocity constraints and ensure passivity withrespect to external perturbations that may arise from a human or theenvironment. The proposed control is written in closed-form, behaves well evenduring singular configurations, and allows any nominal control law to beapplied inside the operating region as long as the safety requirements (e.g.,velocity) are adhered to. The proposed method is implemented on a 6-DOF robotto demonstrate its effectiveness during a physical human-robot interactiontask.

Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions