“…At present, force/position switching control is one of the biggest problems in the field of control (Budiman and Tomizuka, 1999). Scholars have studied the force/position switching control methods and proposed some control methods, such as adaptive control (Takahashi et al, 2008), impedance control (Al-Shuka et al, 2018; Zhou et al, 2018), nonlinear damping control (Long et al, 2013), and dynamic hybrid force position control (Gal et al, 2021; Peng et al, 2023).…”