In this research, a human robot interface device enabled with force shaping was developed. This interface was designed as an one DOF stick-like device. During human's interaction with this device, the force that human sense can be shaped accordingly, through the force control technology. Thus, human could feel different force according to different applications, which benefit the intuitive and effectiveness of human robot interaction. Force shaping of the device was implemented through a series elastic actuation method. A elastic spring was placed between the handle for user interaction and the motor, thus the force that human sense can be shaped through the displacement control of the spring. However, the nonlinear hysteresis effect of spring will greatly affect the precise force shaping. Thus we designed and carried out an experiment to identify and model the spring hysteresis, based on which a compensated control scheme was developed that suppress the hysteresis nonlinearity and guarantee force control performance. The results was published in a international conference as follows.

Wei WANG, Shigeki SUGANO, "Output Torque Regulation through Series Elastic Actuation with Torsion Spring Hysteresis", in Proceeding of IEEE International Conference on Robotics and Biomimetics (ROBIO'14), December 5-10, 2014, Bali Indonesia.