Papers
14
Total Citations
432
H-Index
8
About
Kei Hara is a robotics researcher whose work has profoundly shaped the field of human-robot interaction, with a particular focus on variable impedance control and cooperative manipulation tasks. His most influential contribution, "Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Calligraphic Task" (2003), has garnered 257 citations and introduced a groundbreaking framework for dynamically adjusting robot impedance in response to estimated human arm stiffness — a critical advancement for preventing system instability during close human-robot collaboration. Building on this foundation, Hara developed complementary methods incorporating virtual stiffness terms and passivity-based indices to enable precise cooperative positioning, including challenging peg-in-hole assembly tasks. His research also extended into switching control strategies that intelligently transition between position and torque control modes depending on task context, and he contributed practical measurement methodologies for characterizing multi-articulated robot compliance. Earlier work on fuzzy schema-based task state recognition (1991) demonstrates his long-standing commitment to enabling robots to operate effectively in uncertain environments. Collectively, Hara's publications have accumulated over 400 citations, making him a significant contributor to the theoretical and practical development of safe, adaptive human-robot cooperative systems.
Research Focus
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Top Papers
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- 8Recognition of state in peg-in-hole by fuzzy schema.9 citations · 1991
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