A power-law damping admittance controller, inspired by shear-thickening fluids, lets robots comply with human traction while strongly damping sudden impacts.
IEEE Transactions on Haptics 11(3): 464--475
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Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction
A power-law damping admittance controller, inspired by shear-thickening fluids, lets robots comply with human traction while strongly damping sudden impacts.