Related papers: Safe Physical Human-Robot Interaction through Vari…
In order to be effective partners for humans, robots must become increasingly comfortable with making contact with their environment. Unfortunately, it is hard for robots to distinguish between ``just enough'' and ``too much'' force: some…
We propose, implement and evaluate a natural human-machine control interface for a variable stiffness transradial hand prosthesis that achieves tele-impedance control through surface electromyography (sEMG) signals. This interface, together…
The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires…
Safe and trustworthy Human Robot Interaction (HRI) requires robots not only to complete tasks but also to regulate impedance and speed according to scene context and human proximity. We present SafeHumanoid, an egocentric vision pipeline…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
This paper presents Surena-V, a humanoid robot designed to enhance human-robot collaboration capabilities. The robot features a range of sensors, including barometric tactile sensors in its hands, to facilitate precise environmental…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
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…
Industrial robotics has established itself as an integral component of large-scale manufacturing enterprises. Simultaneously, collaborative robotics is gaining prominence, introducing novel paradigms of human-machine interaction. These…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
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 physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…