---
publication_id: "OT-2026-000000417"
title: "Solution of undisrupted human-machine workflow coupling based on variable virtual fixtures"
published_at: "2026-09-15T19:02:51.603372Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000417"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j13/085"
  - "b25j9/1689"
---

# Solution of undisrupted human-machine workflow coupling based on variable virtual fixtures

## Abstract

The invention discloses a method of undisrupted human-machine workflow coupling, including S 1 , dividing a workflow in a laboratory into manual operations and automated workflows; S 2 , calculating control torque of a main robot and the subordinate robot in the teleoperation system. While the subordinate robot tracks the trajectory of the main robot, the interaction torque between the subordinate robot and the environment is transmitted to the main robot. S 3 , setting a variable shape virtual fixture; S 4 , calculating the torque applied by the virtual fixture; S 5 , introducing the torque of the virtual fixture into the teleoperation system to realize the non-interference coupling in the human-machine workflow. The method provided by the invention facilitates manual operations to be integrated into a non-interfering and undisrupted automatic workflow, and avoids unsafe human contact with a robotic environment, while ensuring intuitive human-computer interaction performance and safety of the system.