Intent Aware Adaptive Admittance Control for Physical Human-Robot Interaction

This video demonstrates the physical human-robot interaction task that was used to compare the performance of the controllers (only Type 1 through 4 are shown). The subjects were asked to sit in front of the robot and grasp the right gripper with their dominant hand. The start of the experiment was automatically indicated by the system via a text-to-speech program. The reference point-to-point motion was indicated by a ``RED" or ``BLUE" audiovisual cue to indicate the next movement point. The best performance in terms of trajectory smoothness is achieved by the adaptive admittance controller with human intent estimation (Type 1). This is indicated by the lowest dimensionless squared jerk value.