Variable impedance control with virtual stiffness for human-robot cooperative task (human-robot cooperative peg-in-hole task)

This paper presents a novel variable impedance control for a human-robot cooperative task. A proposed control has a virtual stiffness term that makes the cooperative positioning task easy and precise. Virtual force helps a human operator to perform the positioning task precisely. A cooperative peg-in-hole task experiment was performed. Results illustrate that the proposed control is effective for the cooperative task.