Variable Admittance Control with Virtual Stiffness Guidance for Human-Robot Collaboration

Jangho Bae, Kyungnam Kim, Jaemyung Huh, Daehie Hong

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


Human-robot collaboration (HRC) is a promising solution for expanding the use of robotic systems in unstructured environments and complex processes in various industries. In this paper, a novel variable admittance control (VAC) with virtual stiffness guidance (VSG) is proposed to improve the performance of HRC. The proposed VAC prevents unnecessary changes of the damping parameter by classifying the human intentions in the low-velocity region, which results in smooth movement. Additionally, the VAC with VSG makes the robot actively assist an operator using a virtual spring. Under the proposed VSG scheme, the equilibrium position of the virtual spring can be adjusted by the operator during a task. The proposed control strategies are implemented in a four-degree-of-freedom hydraulic manipulator referred to as HydCobot. Two experimental tasks for evaluating the accuracy, effort, and elapsed time are conducted to validate the effectiveness of the proposed methods. The results indicate that the proposed methods effectively enhance the performance of HRC.

Original languageEnglish
Article number9125899
Pages (from-to)117335-117346
Number of pages12
JournalIEEE Access
Publication statusPublished - 2020

Bibliographical note

Funding Information:
This work was supported by the Korea Agency for Infrastructure Technology Advancement (KAIA) funded by the Ministry of Land, Infrastructure and Transport under Grant 20CTAP-C158002-01.

Publisher Copyright:
© 2013 IEEE.


  • Human-robot collaboration
  • hydraulic manipulator
  • manual material handling
  • variable admittance control
  • virtual stiffness guidance

ASJC Scopus subject areas

  • General Computer Science
  • General Materials Science
  • General Engineering


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