©SHUTTERSTOCK.COM/ANDREY SUSLOV Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks Creating an Incremental and Explainable Neural Network With Functional Linkage By Zhenyu Lu and Ning Wang T his article presents a novel biomimetic force and impedance adaption framework based on the broad learning system (BLS) for robot control in stable and unstable environments. Different from iterative learning control, the adaptation process is Digital Object Identifier 10.1109/MRA.2022.3188218 Date of current version: 26 August 2022 66 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2022 realized by a neural network (NN)-based framework, similar to a BLS, to realize a varying learning rate for feedforward force and impedance factors. The connections of NN layers and settings of the feature nodes are related to the human motor control and learning principle that is described as a relationship among feedforward force, impedance, reflex and position errors, and so on to make the NN explainable. Some comparative simulations are created and tested in five force 1070-9932/22©2022IEEEhttp://www.SHUTTERSTOCK.COM/ANDREY http://orcid.org/0000-0002-5446-7285 https://orcid.org/0000-0002-3264-1852