{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T16:36:31Z","timestamp":1783701391829,"version":"3.55.0"},"reference-count":39,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2019,4,11]],"date-time":"2019-04-11T00:00:00Z","timestamp":1554940800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2019,5]]},"abstract":"<jats:p>Admittance control allows a desired dynamic behavior to be reproduced on a non-backdrivable manipulator and it has been widely used for interaction control and, in particular, for human\u2013robot collaboration. Nevertheless, stability problems arise when the environment (e.g. the human) the robot is interacting with becomes too stiff. In this paper, we investigate the stability issues related to a change of stiffness of the human arm during the interaction with an admittance-controlled robot. We propose a novel method for detecting the rise of instability and a passivity-preserving strategy for restoring a stable behavior. The results of the paper are validated on two robotic setups and with 50 users performing two tasks that emulate industrial operations.<\/jats:p>","DOI":"10.1177\/0278364919840415","type":"journal-article","created":{"date-parts":[[2019,4,11]],"date-time":"2019-04-11T09:56:01Z","timestamp":1554976561000},"page":"747-765","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":186,"title":["A variable admittance control strategy for stable physical human\u2013robot interaction"],"prefix":"10.1177","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4989-1567","authenticated-orcid":false,"given":"Federica","family":"Ferraguti","sequence":"first","affiliation":[{"name":"Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chiara","family":"Talignani Landi","sequence":"additional","affiliation":[{"name":"Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lorenzo","family":"Sabattini","sequence":"additional","affiliation":[{"name":"Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marcello","family":"Bonf\u00e8","sequence":"additional","affiliation":[{"name":"Engineering Department, University of Ferrara, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cesare","family":"Fantuzzi","sequence":"additional","affiliation":[{"name":"Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cristian","family":"Secchi","sequence":"additional","affiliation":[{"name":"Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2019,4,11]]},"reference":[{"key":"bibr1-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1198\/106186004X12632"},{"key":"bibr2-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2016.04.006"},{"key":"bibr3-0278364919840415","first-page":"1636","volume-title":"Proceedings of the 4th IEEE Conference on Industrial Electronics and Applications","author":"Chen H","year":"2009"},{"key":"bibr4-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-83957-3_33"},{"key":"bibr5-0278364919840415","first-page":"2806","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"De Stefano M","year":"2017"},{"key":"bibr6-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989694"},{"key":"bibr7-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2016.2518670"},{"key":"bibr8-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543531"},{"key":"bibr9-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2011.49"},{"key":"bibr10-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1986.1087723"},{"key":"bibr11-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2011.01.003"},{"key":"bibr12-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2651393"},{"key":"bibr13-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2455791"},{"key":"bibr14-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1016\/j.promfg.2017.07.126"},{"key":"bibr15-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2142430"},{"key":"bibr16-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2014.900162"},{"key":"bibr17-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2018431"},{"key":"bibr18-0278364919840415","volume-title":"Parameter Estimation for the Lognormal Distibution","author":"Ginos B","year":"2009"},{"key":"bibr19-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2016.7844516"},{"key":"bibr20-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/70.988969"},{"key":"bibr21-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1016\/j.csda.2007.11.008"},{"key":"bibr22-0278364919840415","volume-title":"Continuous Univariate Distributions","author":"Johnson N","year":"1995","edition":"2"},{"key":"bibr23-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152294"},{"key":"bibr24-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224586"},{"key":"bibr25-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2041877"},{"key":"bibr26-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2012.6343792"},{"key":"bibr27-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/SICE.2008.4655156"},{"key":"bibr28-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2007.905816"},{"key":"bibr29-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2016.2523901"},{"key":"bibr30-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAR.2017.7942795"},{"key":"bibr31-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta:20070069"},{"key":"bibr32-0278364919840415","first-page":"876","volume-title":"Proceedings of the IEEE International Conference on Systems, Man and Cybernetics","author":"Schmidtler J","year":"2017"},{"key":"bibr33-0278364919840415","first-page":"4211","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Secchi C","year":"2006"},{"key":"bibr34-0278364919840415","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Talignani Landi C","year":"2017"},{"key":"bibr35-0278364919840415","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Talignani Landi C","year":"2017"},{"key":"bibr36-0278364919840415","volume-title":"Proceedings of the Annual Conference of IEEE Industrial Electronics Society","author":"Talignani Landi C","year":"2016"},{"key":"bibr37-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013431"},{"key":"bibr38-0278364919840415","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Tsumugiwa T","year":"2004"},{"key":"bibr39-0278364919840415","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_8"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364919840415","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364919840415","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364919840415","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:01Z","timestamp":1777457761000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364919840415"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,4,11]]},"references-count":39,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2019,5]]}},"alternative-id":["10.1177\/0278364919840415"],"URL":"https:\/\/doi.org\/10.1177\/0278364919840415","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,4,11]]}}}