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On this basis, the decentralized robust interaction control scheme is presented to achieve high performance of position tracking and ensure the security of interaction to create the \u2019safety\u2019 interaction environment. The uniformly ultimately bounded (UUB) of the tracking error is proved by the Lyapunov theory. Finally, pHRI experiments confirm the effectiveness and advancement of the proposed method.<\/jats:p>","DOI":"10.1007\/s40747-022-00816-4","type":"journal-article","created":{"date-parts":[[2022,7,15]],"date-time":"2022-07-15T05:03:02Z","timestamp":1657861382000},"page":"1247-1263","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Decentralized robust interaction control of modular robot manipulators via harmonic drive compliance model-based human motion intention identification"],"prefix":"10.1007","volume":"9","author":[{"given":"Bo","family":"Dong","sequence":"first","affiliation":[]},{"given":"Yuexi","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Jingchen","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Zhenguo","family":"Zhang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4292-6691","authenticated-orcid":false,"given":"Tianjiao","family":"An","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,7,15]]},"reference":[{"key":"816_CR1","doi-asserted-by":"crossref","unstructured":"Dautenhahn K (2007) Methodology and themes of human\u2013robot interaction: a growing research field. 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