Variable Impedance Control for stableHuman-Robot Interactions – VICHI

Collaborative robots (cobots), are designed to perform tasks by complementing or even increasing the physical capabilities of human operators. Controlling cobots in an adaptive and safe manner, taking into account the dynamical model of the robot-human-environment system remains a challenge. In this project we aim at developing innovative safe Variable Impedance Control control methods for collaborative robots, considering an advanced dynamical model of the human behavior, and human-robot interactions. We propose to use information from bio-signals sensors and robot-environment interaction force sensors, to improve the control performance of collaborative robotic systems. This will be established by means of an innovative controller synthesis permitting to achieve optimal impedance profiles, while guaranteeing the stability of the integral dynamical system. Finally, the proposed solutions are to be applied for a cobotic needle insertion system.