OPENTECHNICAL PUBLICATION
OT-2026-000002860

Passivity framework for improving stability in robot-human interactions

Published: 2026-09-15T19:15:49.403240Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002860
Categories: Robotics & Automation > Robot Architectures

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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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OpenTechnical publication OT-2026-000002860
Published 2026-09-15T19:15:49.403240Z
https://opentechnical.org/p/OT-2026-000002860