Abstract

This paper proposes a safe and effective human–robot physical interaction control framework for exoskeleton robots that enhances system compliance and safety while enabling the robot to adapt to human motion. The framework is designed around two primary objectives: first, a model-free adaptive control method is employed for reference trajectory estimation to achieve real-time estimation of human motion intention; second, the Forgetting Factor Recursive Least Squares (FFRLS) method is utilized for online estimation and the learning of human impedance parameters, considering their time-varying nature. In addition, a model-free adaptive trajectory tracking control strategy is proposed to optimize control performance during human–robot physical interaction. Simulation results demonstrate that the proposed control framework outperforms conventional methods significantly in terms of safety and compliance.

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