Department of Mechanical Engineering2024-11-092017978-1-5090-1425-5N/A2-s2.0-85034259793https://hdl.handle.net/20.500.14288/7470In physical human-robot interaction (pHRI), the cognitive skill of a human is combined with the accuracy, repeatability and strength of a robot. While the promises and potential outcomes of pHRI are glamorous, the control of such coupled systems is challenging in many aspects. In this paper, we propose a new controller, fractional order admittance controller, for pHRI systems. The stability analysis of the new control system with human in-the-loop is performed and the interaction performance is investigated experimentally with 10 subjects during a task imitating a contact with a stiff environment. The results show that the fractional order controller is more robust than the standard admittance controller and helps to reduce the human effort in task execution.EngineeringElectrical electronic engineeringEngineeringMechanical engineeringConference proceeding426705900044564