{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T22:57:02Z","timestamp":1773961022600,"version":"3.50.1"},"reference-count":25,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,8,14]],"date-time":"2023-08-14T00:00:00Z","timestamp":1691971200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100009157","name":"NIDILRR","doi-asserted-by":"publisher","award":["H133G120275"],"award-info":[{"award-number":["H133G120275"]}],"id":[{"id":"10.13039\/100009157","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100009157","name":"NIDILRR","doi-asserted-by":"publisher","award":["IIS-1409823"],"award-info":[{"award-number":["IIS-1409823"]}],"id":[{"id":"10.13039\/100009157","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100009157","name":"NIDILRR","doi-asserted-by":"publisher","award":["IIS-1527794"],"award-info":[{"award-number":["IIS-1527794"]}],"id":[{"id":"10.13039\/100009157","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["H133G120275"],"award-info":[{"award-number":["H133G120275"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["IIS-1409823"],"award-info":[{"award-number":["IIS-1409823"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["IIS-1527794"],"award-info":[{"award-number":["IIS-1527794"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human\u2013robot interaction (PHRI) during certain activities of daily living (ADLs). Specifically, we propose a hybrid force\/velocity\/attitude control for a PHRI system based on measurements from a six-axis force\/torque sensor mounted on the robot wrist. While automatically aligning the end-effector surface with the unknown environmental (human) surface, a desired commanded force is applied in the normal direction while following desired velocity commands in the tangential directions. A Lyapunov-based stability analysis is provided to prove both the convergence as well as passivity of the interaction to ensure both performance and safety. Simulation as well as experimental results verify the performance and robustness of the proposed hybrid controller in the presence of dynamic uncertainties as well as safe physical human\u2013robot interactions for a kinematically redundant robotic manipulator.<\/jats:p>","DOI":"10.3390\/robotics12040116","type":"journal-article","created":{"date-parts":[[2023,8,14]],"date-time":"2023-08-14T10:13:57Z","timestamp":1692008037000},"page":"116","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A Passivity-Based Framework for Safe Physical Human\u2013Robot Interaction"],"prefix":"10.3390","volume":"12","author":[{"given":"Zhangchi","family":"Ding","sequence":"first","affiliation":[{"name":"Electrical and Computer Engineering Department, University of Central Florida (UCF), Orlando, FL 32816, USA"}]},{"given":"Masoud","family":"Baghbahari","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering Department, University of Central Florida (UCF), Orlando, FL 32816, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8458-1591","authenticated-orcid":false,"given":"Aman","family":"Behal","sequence":"additional","affiliation":[{"name":"ECE and NanoScience Technology Center, University of Central Florida (UCF), Orlando, FL 32816, USA"}]}],"member":"1968","published-online":{"date-parts":[[2023,8,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Engelberger, J. (1989). Robotics in Service, The MIT Press.","DOI":"10.1007\/978-94-009-1099-7"},{"key":"ref_2","unstructured":"Kwee, H.H., Duimel, J.J., Smits, J.J., Tuinhof de Moed, A.A., and van Woerden, J.A. (,  1989). The MANUS Wheelchair-Borne Manipulator: System Review and First Results. Proceedings of the IARP Workshop on Domestic and Medical & Healthcare Robotics, Newcastle, UK."},{"key":"ref_3","unstructured":"Foulds, R. (1986). Interactive Robotic Aids, World Rehabilitation Fund Monograph #37, World Rehabilitation Fund."},{"key":"ref_4","unstructured":"Mokhtari, M. (2001). Integration of Assistive Technology in the Information Age, IOS."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"143","DOI":"10.3109\/03091909009083051","article-title":"An electric wheelchair mounted robotic arm\u2014A survey of potential users","volume":"14","author":"Prior","year":"1990","journal-title":"J. Med. Eng. Technol."},{"key":"ref_6","unstructured":"Nguyen, H., Anderson, C., Trevor, A., Jain, A., Xu, Z., and Kemp, C. (2008, January 12). El-E: An Assistive Robot that Fetches Objects from Flat Surfaces. Proceedings of the Human-Robot Interaction 2008 Workshop on Robotic Helpers, Amsterdam, The Netherlands."},{"key":"ref_7","unstructured":"Bien, Z., Kim, D.-J., Chung, M.J., Kwon, D.S., and Chang, P.H. (2003, January 20\u201324). Development of a Wheelchair-Based Rehabilitation Robotic System (KARES II) with Various Human Robot Interaction Interfaces for the Disabled. Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, Kobe, Japan."},{"key":"ref_8","unstructured":"Neveryd, H., and Bolmsj, G. (1995, January 26\u201328). WALKY, an Ultrasonic Navigating Mobile Robot for the Disabled. Proceedings of the TIDE, Paris, France."},{"key":"ref_9","unstructured":"Dario, P., Guglielmelli, E., Laschi, C., and Teti, G. (,  1997). Movaid: A Mobile Robotic System Residential Care to Disabled and Elderly People. Proceedings of the First MobiNet Symposium, Athens, Greece."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Zelinsky, A. (1998). Field and Service Robotics, Springer.","DOI":"10.1007\/978-1-4471-1273-0"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1805","DOI":"10.1109\/TCST.2018.2821651","article-title":"An Adaptive Control-Based Approach for 1-Click Gripping of Novel Objects Using a Robotic Manipulator","volume":"27","author":"Ding","year":"2019","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1109\/TCST.2022.3171655","article-title":"A Switched Adaptive Controller for Robotic Gripping of Novel Objects With Minimal Force","volume":"31","author":"Adem","year":"2023","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"936","DOI":"10.1109\/TMECH.2011.2149730","article-title":"Motion Segmentation and Control Design for UCF-MANUS\u2014An Intelligent Assistive Robotic Manipulator","volume":"17","author":"Kim","year":"2012","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"207","DOI":"10.1016\/j.mechatronics.2007.01.003","article-title":"CAD\/CAMbased Position\/Force Controller for a Mold Polishing Robot","volume":"17","author":"Nagata","year":"2007","journal-title":"Mechatronics"},{"key":"ref_15","unstructured":"King, C., Chen, T.L., Jain, A., and Kemp, C.C. (2010, January 18\u201322). Towards an assistive robot that autonomously performs bed baths for patient hygiene. Proceedings of the 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Hawkins, K.P., King, C.H., Chen, T.L., and Kemp, C. (2012, January 9\u201313). Informing assistive robots with models of contact forces from able-bodied face wiping and shaving. Proceedings of the RO-MAN, Paris, France.","DOI":"10.1109\/ROMAN.2012.6343762"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Jamisola, R.S., Kormushev, P., Bicchi, A., and Caldwell, D.G. (2014, January 14\u201318). Haptic exploration of unknown surfaces with discontinuities. Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA.","DOI":"10.1109\/IROS.2014.6942718"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1016\/j.mechatronics.2018.04.008","article-title":"Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback","volume":"52","author":"Gracia","year":"2018","journal-title":"Mechatronics"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Roveda, L., Vicentini, F., and Tosatti, L.M. (2013, January 3\u20137). Deformation-tracking impedance control in interaction with uncertain environments. Proceedings of the 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan.","DOI":"10.1109\/IROS.2013.6696621"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"3058","DOI":"10.1109\/LRA.2018.2849591","article-title":"Automation of Train Cab Front Cleaning With a Robot Manipulator","volume":"3","author":"Moura","year":"2018","journal-title":"IEEE Robot. Autom."},{"key":"ref_21","unstructured":"Ding, Z. (2023, August 12). Robust Impedance Control Design of a Robot Manipulator for Passive Physical Human-Robot Interaction. Available online: https:\/\/youtu.be\/IAccCLQKWuY."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"2159","DOI":"10.1016\/S0005-1098(02)00147-4","article-title":"Non-singular terminal sliding mode control of rigid manipulators","volume":"38","author":"Feng","year":"2002","journal-title":"Automatica"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Behal, A., Dixon, W.E., Dawson, D.M., and Xian, B. (2009). Lyapunov-Based Control of Robotic Systems, CRC Press.","DOI":"10.1201\/9781420006278"},{"key":"ref_24","unstructured":"Khalil, H.K. (2002). Nonlinear Systems, Prentice Hall. [3rd ed.]."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"562","DOI":"10.1109\/TCST.2006.872519","article-title":"Attitude stabilization of a VTOL quadrotor aircraft","volume":"14","author":"Tayebi","year":"2006","journal-title":"IEEE Trans. Control Syst. Technol."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/4\/116\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T20:33:28Z","timestamp":1760128408000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/4\/116"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8,14]]},"references-count":25,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2023,8]]}},"alternative-id":["robotics12040116"],"URL":"https:\/\/doi.org\/10.3390\/robotics12040116","relation":{},"ISSN":["2218-6581"],"issn-type":[{"value":"2218-6581","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8,14]]}}}