{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:26:21Z","timestamp":1754155581686,"version":"3.41.2"},"reference-count":17,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2016,5,3]],"date-time":"2016-05-03T00:00:00Z","timestamp":1462233600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016,5,3]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>\u2013 The purpose of this paper is to present a direct force control which uses two closed-loop controller for one-degree-of-freedom human-machine system to synchronize the human position and machine position, and minimize the human-machine force. In addition, the friction is compensated to promote the performance of the human-machine system.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>\u2013 The dynamic of the human-machine system is mathematically modeled. The control strategy is designed using two closed-loop controllers, including a PID controller and a PI controller. The frictions, which exist in the rotary joint and the hydraulic wall, are compensated separately using the Friedland\u2019s observer and Dahl\u2019s observer.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>\u2013 When human-machine system moves at low velocity, there exists a significant amount of static friction that hinders the system movements. The simulation results show that the system gives a better performance in human-machine position synchronization and human-machine force minimization when the friction is compensated.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>\u2013 The acquired results are based on simulation not experiment.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>\u2013 This paper is the first to apply the electrohydraulic servo systems to both actuate the human-machine system, and use the direct force control strategy consisting of two closed-loop controllers. It is also the first to compensate the friction both in the robot joint and hydraulic wall.<\/jats:p><\/jats:sec>","DOI":"10.1108\/k-08-2015-0205","type":"journal-article","created":{"date-parts":[[2016,5,12]],"date-time":"2016-05-12T04:47:50Z","timestamp":1463028470000},"page":"760-771","source":"Crossref","is-referenced-by-count":2,"title":["Direct force control for human-machine system with friction compensation"],"prefix":"10.1108","volume":"45","author":[{"given":"Lie","family":"Yu","sequence":"first","affiliation":[]},{"given":"Jianbin","family":"Zheng","sequence":"additional","affiliation":[]},{"given":"Yang","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Enqi","family":"Zhan","sequence":"additional","affiliation":[]},{"given":"Qiuzhi","family":"Song","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020121522594856600_b1","unstructured":"Astrom, K.J. and Canudas-de-Wit, C. 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