Analysis of a new reactive control strategy to improve transparency of human-robot co-manipulation

Open Access

Table 1

Comparison between stiffness control, impedance control, and virtual solid control.

Control	Equation for translation	Robot control
Stiffness control	$M {\dot{v}}_{e} + C v_{e} + K x_{e} = h_{e}$	Position controller
Impedance control	$M {\dot{v}}_{e} + C v_{e} = h_{e}$	Speed controller
Virtual solid control	$M_{v} {\dot{v}}_{e} + F_{v v} v_{e} + F_{s v} s i g n (v_{e}) = h_{e}$	Position controller

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