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Force tracking control for motion synchronization in human-robot collaboration

Published online by Cambridge University Press:  26 August 2014

Yanan Li
Institute for Infocomm Research, Agency for Science, Technology and Research, Singapore 138632, Singapore
Shuzhi Sam Ge*
Department of Electrical and Computer Engineering, and Social Robotics Laboratory, Interactive Digital Media Institute, National University of Singapore, Singapore 117576, Singapore
*Corresponding author. E-mail:


In this paper, motion synchronization is investigated for human–robot collaboration such that the robot is able to “actively” follow its human partner. Force tracking is achieved with the proposed method under the impedance control framework, subject to uncertain human limb dynamics. Adaptive control is developed to deal with point-to-point movement, and learning control and neural networks control are developed to generate periodic and arbitrary continuous trajectories, respectively. Stability and tracking performance of the closed-loop system are discussed through rigorous analysis. The validity of the proposed method is verified through simulation and experiment studies.

Copyright © Cambridge University Press 2014 

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