Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically achieved through external force analysis, nominal robot dynamics, or data-driven approaches. However, these methods are primarily effective in contact-sparse environments. When robots under hybrid or unified force-impedance control physically interact with active humans or non-passive environments, the robotic system may lose passivity and thus compromise safety. To address this challenge, this paper proposes a unified Interactive Force-Impedance Control (IFIC) framework that adapts to interaction power flow, ensuring safe and effortless interaction in contact-rich environments. The proposed control architecture is formulated within a port-Hamiltonian framework, incorporating both interaction and task control ports, thereby guaranteeing autonomous system passivity. Experiments in both rigid and soft contact scenarios demonstrate that IFIC ensures stable collaboration under active human interaction, reduces contact impact forces and interaction force oscillations.

翻译：人类与机器人的协作需要灵活的角色适应性，使机器人能够主动引领者与被动跟随者之间切换。有效的角色切换依赖于对人类意图的准确估计，这通常通过外力分析、标称机器人动力学或数据驱动方法实现。然而，这些方法主要适用于稀疏接触环境。当采用混合或统一力-阻抗控制的机器人与活跃人类或非被动环境发生物理交互时，机器人系统可能丧失无源性，从而危及安全性。针对这一挑战，本文提出一种统一的交互力-阻抗控制（IFIC）框架，该框架能够适应交互功率流，确保在密集接触环境中实现安全且轻松的交互。所提出的控制架构在端口-哈密顿框架内构建，同时集成交互控制端口与任务控制端口，从而保障系统自主无源性。在刚性接触与柔性接触场景下的实验表明，IFIC不仅能在活跃人类交互下实现稳定协作，还能有效降低接触冲击力与交互力振荡。