Path recognition and virtual guides design for path following based on human-robot collaboration

This paper presents a path recognition and virtual guides (VGs) design methodfor ataskofpathfollowing based on human-robot collaboration (HRC). Firstly, a support vector machine(SVM)combinedwithleastsquares (LS) is developed to recognize the desired path based on humanguidance. Secondly, VGs are designed based on the admittance control for human-robot collaborative path following, which combine the human’s decision-making with the robot’s accurate execution capability. The effectiveness and the robustness of the proposed method are verified on a 7-DOF Sawyer robot equipped with a force/torque sensor.