Human-machine cooperative grasping/manipulating system using force-based compliance controller with force threshold

Naoki Motoi, Ryogo Kubo

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


In recent years, there have been several studies on human-machine cooperative systems. These systems involve contact between humans and the environment. Therefore, it is necessary to create a safe system in order to avoid injuring humans and the environment. On the other hand, task realization is also important. From this viewpoint, a force-based compliance controller with a force threshold is proposed in this paper. This controller achieves both task realization and adaptation to the environment. This motion selection is conducted by comparing the force command and a force threshold. In addition, a human-machine cooperative grasping/manipulating system using the proposed controller is developed. This system can conduct a human-machine cooperative motion, which consists of an autonomous motion and a human-assisting motion. The priorities of the autonomous motion and the human-assisting motion are easily designed by changing the force thresholds. The validity of the proposed system is confirmed with experimental results.

Original languageEnglish
Pages (from-to)39-46
Number of pages8
JournalIEEJ Journal of Industry Applications
Issue number2
Publication statusPublished - 2016


  • Compliance controller
  • Force controller
  • Human-machine cooperative system
  • Motion control

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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