Sensor-less Contact Force Estimation in Physical Human-Robot Interaction

Abstract

In this paper, the contact force estimation in physical human-robot interaction without an explicit force sensing device based on the adaptive third order sliding mode observer is proposed. Firstly, the identification parameter of a robot manipulator is required. Then an adaptive third order sliding mode observer is designed to estimate contact force. Finally, the experimental results with the immediate stop control and admittance control using the proposed estimation contact force for 3-DOF AT2-FARA robot manipulator are shown to illustrate the capability of the proposed in the real application