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Robots are expected to be human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed in order to adapt human characteristics. In this paper, a variable impedance control method for robot to cooperate with human is proposed. First, the human characteristics in a cooperative task between two humans are analyzed. It is confirmed that human characteristics can be expressed by a variable impedance model. Then, we make a robot and a human to execute a cooperative task. It is shown that the impedance parameters obtained in the experiment performed by two humans give the best characteristics to the robot for cooperation with the human.
Ikeura et al. (Tue,) studied this question.