OPENTECHNICAL PUBLICATION
OT-2026-000001750

Human-robot collaboration control system

Published: 2026-09-15T19:08:26.090078Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001750
Categories: Robotics & Automation > Robot Architectures

------------------------------------------------------------------------

ABSTRACT

A control system for human-robot collaboration, including: a passive reactive
control path implemented through a virtual damping system and configured to
generate reactive control signals in response to human-applied interaction
inputs; a predictive control path configured to generate predictive control
signals based on predicted human performance objective inferred online from
measured contact wrenches; and a signal blending component configured to
combine the reactive control signals and the predictive control signals,
wherein the predictive control signals are bounded in magnitude such that
passivity of the reactive control path is preserved and stability of
closed-loop human-robot interaction is maintained during collaboration.

------------------------------------------------------------------------

OpenTechnical publication OT-2026-000001750
Published 2026-09-15T19:08:26.090078Z
https://opentechnical.org/p/OT-2026-000001750