Adaptive admittance control for a safe and efficient human-robot interaction

The possibility of adapting online the way a robot interacts with the environment is becoming more and more important. Nevertheless, stability problems arise when the environment (e.g. the human) the robot is interacting with gets too stiff. In this work, we present a strategy for handling the stability issues related to a change of stiffness of the human arm during the interaction with an admittance-controlled robot.