用剪切增稠流体原理设计控制器，提升人机协作时的抗冲击能力。
Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction
- 借鉴剪切增稠流体特性，设计新型非线性控制策略。
- 在真实场景中抗高强冲击表现优于传统线性/非线性控制器。
- 适合工业、康复等需安全人机协同的高风险场景。
物理人机交互（pHRI）广泛应用于工业操作、家庭服务和医疗康复等领域，对机器人安全性提出更高要求。由于工作环境不确定性，交互过程常遭遇意外冲击，影响任务安全与流畅性。传统线性阻抗控制（L-AC）虽能有效处理高频小幅度噪声，但对中频高强度冲击效果不佳。受剪切增稠流体固液相变特性的启发，本文提出剪切增稠流体控制（SFC），实现高效人机协作与抗冲击干扰的双重能力。详细分析了SFC的稳定性、无源性及相轨迹特性，量化其频域与时域性能，并给出离散控制下的参数约束与耦合稳定性条件。仿真对比显示，SFC在频率与时域特性上均优于L-AC与非线性阻抗控制器（N-AC）。实际实验中，固定与移动机械臂测试表明：L-AC抗冲击能力弱；N-AC可抵抗中等冲击但无法应对高强度冲击，且可能引发自激振荡；而SFC展现出优异抗冲击性并维持稳定协作，在协作水传递任务中显著提升舒适度。工厂场景案例进一步验证其在人机协同操作中的实用性，凸显其在工业应用中的潜力。
原文摘要 · Abstract (English)
Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the safety of robots. Due to the uncertainty of the working environment, the pHRI may receive unexpected impact interference, which affects the safety and smoothness of the task execution. The commonly used linear admittance control (L-AC) can cope well with high-frequency small-amplitude noise, but for medium-frequency high-intensity impact, the effect is not as good. Inspired by the solid-liquid phase change nature of shear-thickening fluid, we propose a Shear-thickening Fluid Control (SFC) that can achieve both an easy human-robot collaboration and resistance to impact interference. The SFC's stability, passivity, and phase trajectory are analyzed in detail, the frequency and time domain properties are quantified, and parameter constraints in discrete control and coupled stability conditions are provided. We conducted simulations to compare the frequency and time domain characteristics of L-AC, nonlinear admittance controller (N-AC), and SFC, and validated their dynamic properties. In real-world experiments, we compared the performance of L-AC, N-AC, and SFC in both fixed and mobile manipulators. L-AC exhibits weak resistance to impact. N-AC can resist moderate impacts but not high-intensity ones, and may exhibit self-excited oscillations. In contrast, SFC demonstrated superior impact resistance and maintained stable collaboration, enhancing comfort in cooperative water delivery tasks. Additionally, a case study was conducted in a factory setting, further affirming the SFC's capability in facilitating human-robot collaborative manipulation and underscoring its potential in industrial applications.
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