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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\u2019s 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\u2019s capability in facilitating human-robot collaborative manipulation and underscoring its potential in industrial applications.<\/jats:p>","DOI":"10.1177\/02783649241234364","type":"journal-article","created":{"date-parts":[[2024,3,4]],"date-time":"2024-03-04T08:43:22Z","timestamp":1709541802000},"page":"1731-1769","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":23,"title":["Compliance while resisting: A shear-thickening fluid controller for physical human-robot interaction"],"prefix":"10.1177","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4899-9920","authenticated-orcid":false,"given":"Lu","family":"Chen","sequence":"first","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lipeng","family":"Chen","sequence":"additional","affiliation":[{"name":"Tencent Robotics X Lab, Shenzhen, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiangchi","family":"Chen","sequence":"additional","affiliation":[{"name":"Tencent Robotics X Lab, Shenzhen, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1393-3040","authenticated-orcid":false,"given":"Haojian","family":"Lu","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Zheng","sequence":"additional","affiliation":[{"name":"Tencent Robotics X Lab, Shenzhen, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Wu","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yue","family":"Wang","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhengyou","family":"Zhang","sequence":"additional","affiliation":[{"name":"Tencent Robotics X Lab, Shenzhen, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rong","family":"Xiong","sequence":"additional","affiliation":[{"name":"Zhejiang University, Hangzhou, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2024,3,4]]},"reference":[{"key":"bibr1-02783649241234364","doi-asserted-by":"publisher","DOI":"10.1109\/70.768179"},{"key":"bibr2-02783649241234364","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/8203054"},{"key":"bibr3-02783649241234364","doi-asserted-by":"crossref","unstructured":"Albu-Schaffer A, Hirzinger G (2002) Cartesian impedance control techniques for torque controlled light-weight robots. 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