Applications involving humans and robots working together are spreading nowadays. Alongside, modeling and control techniques that allow physical Human-Robot Interaction (pHRI) are widely investigated. To better understand its potential application in pHRI, this work investigates the Cooperative Differential Game Theory modeling of pHRI in a cooperative reaching task, specifically for reference tracking. The proposed controller based on Collaborative Game Theory is deeply analyzed and compared in simulations with two other techniques, Linear Quadratic Regulator (LQR) and Non-Cooperative Game-Theoretic Controller. The set of simulations shows how different tuning of control parameters affects the system response and control efforts of both the players for the three controllers, suggesting the use of Cooperative GT in the case the robot should assist the human, while Non-Cooperative GT represents a better choice in the case the robot should lead the action. Finally, preliminary tests with a trained human are performed to extract useful information on the real applicability and limitations of the proposed method.

翻译：随着人机协作应用日益普及，针对物理人机交互（pHRI）的建模与控制技术正受到广泛研究。为深入理解其在pHRI中的潜在应用，本文研究了协作式到达任务中基于合作微分博弈理论的pHRI建模方法，特别关注参考轨迹跟踪问题。基于协作博弈理论所设计的控制器被深入分析，并在仿真中与线性二次型调节器（LQR）及非合作博弈控制器这两种技术进行对比。仿真结果表明：控制参数的不同调节方式会影响系统响应及双方控制器的控制力度，当机器人需辅助人类时宜采用合作博弈控制，而当机器人需主导动作时非合作博弈控制器则更优。最后，通过经训练的人类受试者进行初步测试，提取了所提方法在实际应用中的可行性与局限性信息。