Related papers: A Passivity Based Framework for Safe Physical Huma…
Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not…
Within the concept of physical human-robot interaction (pHRI), the most important criterion is the safety of the human operator interacting with a high degree of freedom (DoF) robot. Therefore, a robust control scheme is in high demand to…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Human-robot collaboration including close physical human-robot interaction (pHRI) is a current trend in industry and also science. The safety guidelines prescribe two modes of safety: (i) power and force limitation and (ii) speed and…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…
Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model reference admittance controller is developed to maintain compliance…
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper…
Advancements in the domain of physical human-robot interaction (pHRI) have tremendously improved the ability of humans and robots to communicate, collaborate, and coexist. In particular, compliant robotic systems offer many characteristics…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
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…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…