This article explores an alternative design philosophy of compliance control for safe and friendly human–robot interaction. Conventional approaches are based on the Voigt model with spring and damper connected in parallel. The theoretical and experimental results of disciplines other than robotics (e.g., mechanics of materials and elastoplastic mechanics) show that the Maxwell model has the merit of removing the elastic return force and reducing the effect of collisions with respect to the Voigt model. Therefore, the authors are motivated to exploit the advantages of the Maxwell model in reactions to human interactions and develop a series of Maxwell model-based compliance control methodologies, which only require kinematic control interfaces. First, a Maxwell model-based Cartesian admittance control scheme is presented to produce a novel plastic compliance of robot end effector. Moreover, we present a Maxwell model-based null space admittance control approach for manipulators with redundancy to achieve a novel plastic whole body compliance. We have evaluated the effectiveness and generalizability of the proposed methods by extensive comparative experiments on human–robot cooperative tasks in various sectors, including domestic, part assembly, and robotic puncture surgery. Our approaches can be viewed as a new and comfortable interface of physical human–robot interaction and collaboration.

中文翻译：

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基于人与机器人友好交互的基于Maxwell模型的遵从性控制

本文探讨了用于安全友好的人机交互的合规性控制的另一种设计理念。常规方法是基于Voigt模型，其中弹簧和减震器并联连接。除机器人技术（例如材料力学和弹塑性力学）以外的学科的理论和实验结果表明，麦克斯韦模型具有消除弹性返回力并减少与Voigt模型有关的碰撞影响的优点。因此，作者有动机去利用Maxwell模型在对人机交互的反应中的优势，并开发出一系列基于Maxwell模型的依从性控制方法，这些方法仅需要运动学控制接口。第一的，提出了一种基于麦克斯韦模型的笛卡尔导纳控制方案，以产生机器人末端执行器的新型塑性顺应性。此外，我们提出了一种基于Maxwell模型的零空间导纳控制方法，该方法可用于具有冗余度的机械臂，以实现新型的塑料整体柔顺性。我们通过在包括家用，零件装配和机器人穿刺手术在内的各个部门进行的人机协作任务的广泛对比实验，评估了所提出方法的有效性和可推广性。我们的方法可以看作是人机交互与协作的新界面。我们通过在包括家用，零件装配和机器人穿刺手术在内的各个部门进行的人机协作任务的广泛对比实验，评估了所提出方法的有效性和可推广性。我们的方法可以看作是人机交互与协作的新界面。我们通过在包括家用，零件装配和机器人穿刺手术在内的各个部门进行的人机协作任务的广泛对比实验，评估了所提出方法的有效性和可推广性。我们的方法可以看作是人机交互与协作的新界面。