{
  "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.",
  "assignees": [
    "HONDA MOTOR CO LTD"
  ],
  "authors": [
    "SOLTANI ZARRIN RANA",
    "ZAHEDI FATEMEH"
  ],
  "canonical_url": "https://opentechnical.org/p/OT-2026-000002860",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 79
  },
  "figures": [],
  "files": [
    {
      "bytes": 9733,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "49889a36cb2c0221459202d33ff55df807b0fcfaa3d13b2ca483b3d90f095894"
    },
    {
      "bytes": 1088,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "a69145a74cddc455d849ef387d8d3d9b593f612435800f54c6b0ab763b42c5ee"
    },
    {
      "bytes": 1160,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "154b752bcad7b873b6545047bb15c403bf750f8e79e02f38246be35dba4a9cc9"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000002860/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "b25j11/008",
    "b25j9/1689",
    "b25j9/1689",
    "b25j11/00",
    "b25j11/008",
    "b25j11/008"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000002860",
  "published_at": "2026-09-15T19:15:49.403240Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-02-17",
  "source_id": "US-12552038-B1",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US12552038B1",
  "supersedes": null,
  "title": "Passivity framework for improving stability in robot-human interactions",
  "uuid": "01a0a67f-341a-7b0e-b8a9-e0f2e8117cf5"
}