Measuring and controlling external force from the environment and human beings are essential to realize the future application of the robot systems for medical, nursing, and personal support systems. This paper proposes a friction and noise suppression for force control system based on the integration of the reaction torque observer and force (torque) sensor information. The proposed method performs external force estimation by integrating the low-frequency component information of the force sensor and the high-frequency component of the force information estimated by reaction torque observer (RTOB). By using the low-frequency component of the force sensor, the effect of static friction can be suppressed, and the high-frequency part of RTOB can be used to attenuate the noise component. As a result, the performance of the force control system can be enhanced. The proposed method is evaluated through the experiments of the force control and bilateral control as a position/force hybrid control.

中文翻译：

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基于观察者与力传感器信息集成的力控制系统摩擦与噪声抑制

测量和控制来自环境和人类的外力对于实现机器人系统在医疗，护理和个人支持系统中的未来应用至关重要。本文基于反作用转矩观测器和力（转矩）传感器信息的集成，提出了一种用于力控制系统的摩擦和噪声抑制装置。所提出的方法通过将力传感器的低频分量信息和反作用扭矩观测器（RTOB）估计的力信息的高频分量进行积分来执行外力估计。通过使用力传感器的低频分量，可以抑制静摩擦的影响，并且可以使用RTOB的高频部分来衰减噪声分量。结果是，可以增强力控制系统的性能。通过力控制和双边控制作为位置/力混合控制的实验，对所提出的方法进行了评估。