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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12552038-B1, on 17 February 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002860

Passivity framework for improving stability in robot-human interactions

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
SOLTANI ZARRIN RANA, ZAHEDI FATEMEH
Assignee
HONDA MOTOR CO LTD
Original source
US-12552038-B1, the United States Patent and Trademark Office, 17 February 2026
Document SHA-256
154b752bcad7b873b6545047bb15c403bf750f8e79e02f38246be35dba4a9cc9

Abstract

Systems and methods for passive robot-mediated physical human-human interaction using hierarchical constraints. The system enforces constraints on both sides of a bilateral physical interaction with different priorities on each side in the presence of time-varying destabilizing factors such as control system limitations, human variability, hard contacts, relaxed user grasps, stiff control settings, and/or communication delays. A hierarchical optimization framework is provided to satisfy these constraints. A back-up passivity control may also be included to ensure optimization at both sides.

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Citation

OpenTechnical Publication OT-2026-000002860, “Passivity framework for improving stability in robot-human interactions,” published September 15, 2026 at 19:15:49 UTC, https://opentechnical.org/p/OT-2026-000002860.

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This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.