{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:38Z","timestamp":1754155418430,"version":"3.41.2"},"reference-count":31,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2019,6,17]],"date-time":"2019-06-17T00:00:00Z","timestamp":1560729600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,6,17]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to eliminate instability which may occur when a human stiffens his arms in physical human\u2013robot interaction by estimating the human hand stiffness and presenting a modified vibration index.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Human hand stiffness is first estimated in real time as a prior indicator of instability by capturing the arm configuration and modeling the level of muscle co-contraction in the human\u2019s arms. A time-domain vibration index based on the interaction force is then modified to reduce the delay in instability detection. The instability is confirmed when the vibration index exceeds a given threshold. The virtual damping coefficient in admittance controller is adjusted accordingly to ensure stability in physical human\u2013robot interaction.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>By estimating the human hand stiffness and modifying the vibration index, the instability which may occur in stiff environment in physical human\u2013robot interaction is detected and eliminated, and the time delay is reduced. The experimental results demonstrate significant improvement in stabilizing the system when the human operator stiffens his arms.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The originality is in estimating the human hand stiffness online as a prior indicator of instability by capturing the arm configuration and modeling the level of muscle co-contraction in the human\u2019s arms. A modification of the vibration index is also an originality to reduce the time delay of instability detection.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-05-2018-0111","type":"journal-article","created":{"date-parts":[[2018,10,30]],"date-time":"2018-10-30T07:42:15Z","timestamp":1540885335000},"page":"529-540","source":"Crossref","is-referenced-by-count":3,"title":["Improving stability in physical human\u2013robot interaction by estimating human hand stiffness and a vibration 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