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In this paper, the problem of making a safe compliant contact between a humanand an assistive robot is considered. Users with disabilities have a need toutilize their assistive robots for physical human-robot interaction (PHRI)during certain activities of daily living (ADLs). Specifically, we propose ahybrid force/velocity/attitude control for a PHRI system based on measurementsfrom a 6-axis force/torque sensor mounted on the robot wrist. Whileautomatically aligning the end-effector surface with the unknown environmental(human) surface, a desired commanded force is applied in the normal directionwhile following desired velocity commands in the tangential directions. ALyapunov based stability analysis is provided to prove both convergence as wellas passivity of the interaction to ensure both performance and safety.Simulation as well as experimental results verify the performance androbustness of the proposed hybrid controller in the presence of dynamicuncertainties as well as safe physical human-robot interactions for akinematically redundant robotic manipulator.

A Passivity Based Framework for Safe Physical Human Robot Interaction