Interaction Torque

Interaction torque, the rotational force exchanged between humans and robots during physical interaction, is a critical factor in ensuring safe and efficient human-robot collaboration (HRC). Current research focuses on developing adaptive control strategies that dynamically adjust interaction torques based on factors like robot link mass and velocity, or user muscle activity, often employing model-based optimization or machine learning techniques to achieve personalized and safe interactions. This work is crucial for improving HRC safety, optimizing performance in applications like exoskeleton-assisted movement and co-manipulation tasks, and enhancing the overall user experience in human-robot systems.