Today, physical human-robot interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, aerial physical interaction is also developing very fast. Nevertheless, pHRI with aerial vehicles has not been addressed so far. In this work, we present the study of one of the first systems in which a human is physically connected to an aerial vehicle by a cable. We want the robot to be able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel. We propose an admittance-based approach with a controller, inspired by the literature on flexible manipulators, that computes the desired interaction forces that properly guide the human. The stability of the system is formally proved with a Lyapunov-based argument. The system is also shown to be passive, and thus robust to nonidealities like model and tracking errors, additional human forces, time-varying inputs, and other external disturbances. We also design a maneuver regulation policy to simplify the path following problem. The global method has been experimentally validated on a group of four subjects, showing a reliable and safe pHRI.

中文翻译：

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与系留飞行器的物理人机交互：在基于力的人类引导问题中的应用

今天，物理人机交互 (pHRI) 是地面操纵领域的一个非常热门的话题。同时，空中物理交互也在快速发展。然而，到目前为止，还没有解决使用飞行器的 pHRI。在这项工作中，我们展示了人类通过电缆物理连接到飞行器的第一个系统之一的研究。我们希望机器人能够仅使用力作为间接通信渠道将人类拉向所需位置（或沿着路径）。我们提出了一种基于导纳的控制器方法，其灵感来自关于柔性机械手的文献，该方法计算正确引导人类所需的交互力。系统的稳定性用基于李雅普诺夫的论证形式证明。该系统也被证明是被动的，因此对模型和跟踪错误、额外人力、时变输入和其他外部干扰等非理想情况具有鲁棒性。我们还设计了机动调节策略来简化路径跟随问题。该全局方法已在一组四名受试者上进行了实验验证，显示出可靠且安全的 pHRI。