Neural Control for Human-Robot Interaction with Human Motion Intention Estimation

In this article, a proactive control strategy is developed for robots interacting with humans by integrating the estimation of human partner's motion intention. A human control model is used and a least square-based observer is employed to estimate the human control input without a force sensor. Using the estimate of the human intention, a neural network (NN)-enhanced robot controller is designed to make the robot actively follow the human trajectory. NNs are integrated into robot controller to approximate and compensate the system uncertainties, so that a tracking performance can be guaranteed. Rigorous analysis based on Lyapunov theory proves that all the error signals are uniformly ultimately bounded. Implementations show that the proposed control method has adaptive properties.

• Publication year

  2024

• Venue

  IEEE transactions on industrial electronics (1982. Print)

• Publication date

  2024-12-01

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/TIE.2024.3379681
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Adaptive Fuzzy Inverse Optimal Control of Nonlinear Switched Systems

  2023cited by this paper
• A Proactive Controller for Human-Driven Robots Based on Force/Motion Observer Mechanisms

  2022influential reference
• Iterative Learning-Based Robotic Controller With Prescribed Human–Robot Interaction Force

  2022cited by this paper
• Enhanced Broad Siamese Network for Facial Emotion Recognition in Human–Robot Interaction

  2021cited by this paper
• Neural Networks Enhanced Optimal Admittance Control of Robot–Environment Interaction Using Reinforcement Learning

  2021cited by this paper
• Interact With Me: An Exploratory Study on Interaction Factors for Active Physical Human-Robot Interaction

  2020cited by this paper
• Neural Control of Robot Manipulators With Trajectory Tracking Constraints and Input Saturation

  2020cited by this paper
• Optimal Robot–Environment Interaction Under Broad Fuzzy Neural Adaptive Control

  2020cited by this paper
• Model-Free Online Neuroadaptive Controller With Intent Estimation for Physical Human–Robot Interaction

  2020cited by this paper
• Admittance-Based Controller Design for Physical Human–Robot Interaction in the Constrained Task Space

  2020cited by this paper
• Motor Learning and Generalization Using Broad Learning Adaptive Neural Control

  2020cited by this paper
• A Learning-Based Hierarchical Control Scheme for an Exoskeleton Robot in Human–Robot Cooperative Manipulation

  2020cited by this paper
• Composite-Learning-Based Adaptive Neural Control for Dual-Arm Robots With Relative Motion

  2020cited by this paper
• Human-Robot Co-Carrying Using Visual and Force Sensing

  2020influential reference
• Robot Learning System Based on Adaptive Neural Control and Dynamic Movement Primitives

  2019cited by this paper
• End-Effector Force Estimation for Flexible-Joint Robots With Global Friction Approximation Using Neural Networks

  2019cited by this paper
• Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

  2019cited by this paper
• Bayesian Estimation of Human Impedance and Motion Intention for Human–Robot Collaboration

  2019influential reference
• Physical Human–Robot Interaction of a Robotic Exoskeleton By Admittance Control

  2018cited by this paper
• Interface Design of a Physical Human–Robot Interaction System for Human Impedance Adaptive Skill Transfer

  2018cited by this paper
• Adaptive Parameter Estimation and Control Design for Robot Manipulators With Finite-Time Convergence

  2018cited by this paper
• Human-Robot Collaboration Demonstrator Combining Speech Recognition and Haptic Control

  2017cited by this paper
• Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision

  2017cited by this paper
• Sensorless kinesthetic teaching of robotic manipulators assisted by observer-based force control

  2017cited by this paper
• Gesture recognition for human-robot collaboration: A review

  2017cited by this paper
• Physical Human-Robot Interaction

  2016cited by this paper
• Optimized Assistive Human–Robot Interaction Using Reinforcement Learning

  2016cited by this paper
• Development of a dynamics model for the Baxter robot

  2016cited by this paper
• Force tracking control for motion synchronization in human-robot collaboration

  2014cited by this paper
• Human–Robot Collaboration Based on Motion Intention Estimation

  2014cited by this paper
• Teleoperation of humanoid baxter robot using haptic feedback

  2014cited by this paper
• Human Robotics: Neuromechanics and Motor Control

  2013cited by this paper
• Estimating robot end-effector force from noisy actuator torque measurements

  2011cited by this paper
• Haptic Human–Robot Collaboration: Comparison of Robot Partner Implementations in Terms of Human-Likeness and Task Performance

  2011cited by this paper
• Human-Intent Detection and Physically Interactive Control of a Robot Without Force Sensors

  2010cited by this paper
• Neural-Network-Based Contact Force Observers for Haptic Applications

  2006cited by this paper
• Learning from neural control

  2006cited by this paper
• Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans

  2002cited by this paper
• The central nervous system stabilizes unstable dynamics by learning optimal impedance

  2001cited by this paper
• Human-robot cooperative manipulation with motion estimation

  2001cited by this paper
• Estimation of environment forces and rigid-body velocities using observers

  1994cited by this paper
• Handbook of differential equations

  1992cited by this paper
• Direct calculation of minimum set of inertial parameters of serial robots

  1990cited by this paper
• Adaptive Control of Mechanical Manipulators

  1987cited by this paper
• On Classes of Summable Functions and their Fourier Series

  1912cited by this paper

• Observer-Based Fuzzy Adaptive Admittance Control for Unknown Environment-Coupled Physical Human–Robot Interaction With Prescribed Tracking

  2026cites this paper
• Bidirectional Mamba-Based Continuous Prediction of Human Motion Intention Using Multisource Information Fusion

  2026cites this paper
• Neuroadaptive Admittance Control for Human-Robot Interaction With Human Motion Intention Estimation and Output Error Constraint

  2025cites this paper
• DTRT: Enhancing Human Intent Estimation and Role Allocation for Physical Human-Robot Collaboration

  2025cites this paper
• Reinforcement Learning-Based Admittance Control for Physical Human–Robot Interaction With Output Constraints

  2025cites this paper
• Modeling and control for PAM-actuated robots: an overview

  2025cites this paper
• Multistep Intent Estimation Guided Adaptive Passive Control for Safety-Aware Physical Human–Robot Collaboration

  2025cites this paper
• A Complaisant and Impact-Resistant Rigid–Flexible Controller for Physical Human–Robot Interaction Considering the Possible Interferences

  2025cites this paper
• Mamba-based Continuous Prediction of Joint Angles using Fuzzy Entropy Features of sEMG

  2025cites this paper
• A robust two-stage framework for human skeleton action recognition with GAIN and masked autoencoder

  2025cites this paper