---
publication_id: "OT-2026-000002860"
title: "Passivity framework for improving stability in robot-human interactions"
published_at: "2026-09-15T19:15:49.403240Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002860"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j11/008"
  - "b25j9/1689"
  - "b25j9/1689"
  - "b25j11/00"
  - "b25j11/008"
  - "b25j11/008"
---

# Passivity framework for improving stability in robot-human interactions

## 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.