An Augmented Discrete-Time Approach for Human-Robot Collaboration

Figure 13

Object moving test results: (a) object moving without human postural stiffness index transfer; (b) object moving with human postural stiffness transfer. Both the two tests are composed of four steps: start to move Baxter robot endpoint to the target; move objects using pose 1; and move objects with pose 2 and finally finish moving objects. The predominated Baxter robot joint S0 is selected to track the torque variations during the tests.

(a) Object moving test I

(b) Object moving test II