On the Development of a Motor Driver for Physical Human-Robot Interactions
摘要
This paper presents a novel motor driver design suitable for physical human-robot interactions. Unlike traditional motor drivers for motion control, our proposed motor driver design for interaction controls is specifically designed for haptic interfaces and bilateral teleoperation control, enabling haptic interface or feedback through flexible interaction control modules with high control bandwidths. The performance of the proposed motor driver is evaluated through various experiments, demonstrating its effectiveness in improving haptic performance.