Evaluation of Contribution Rate in Human-Robot Collaboration: A Study on Damping and Positioning Control of Suspended Load

In this paper, considering a scenario in which a human and a robot cooperate to carry a suspended load, the contribution of the human and the robot to the task is discussed. Specifically, a method to realize a carrying task using impedance control and damping control is proposed, and its performance is evaluated by analyzing the experimental results in the frequency responses. In this experiment, two types of damping control are provided by the robot side: state feedback and reaction-force feedback and compared to examine how the robot's damping control assist affects the task. Experimental results show that the introduction of damping control reduces human effort for damping control but does not significantly improve the performance of the positioning control system.