Low Impedance Rendering Toward Safe Human-Robot Interaction

Abstract

This study proposes a novel approach for low-impedance rendering in robots to ensure safe human-robot interaction. Low-impedance control enhances safety by enabling robots to respond flexibly to physical contact with humans. However, real-world disturbances such as friction often necessitate high impedance, creating a trade-off between safety and task precision. To address this challenge, a modified disturbance observer (DOB)-based control framework is introduced, designed to prevent external contact forces from being treated as disturbances. Experimental results demonstrate significant improvements in impedance rendering performance under various conditions, ensuring precise and safe robot operations in dynamic shared environments. © 2025 IEEE.