Related papers: Towards Optimized Parallel Robots for Human-Robot …
Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the form of collisions and clamping at a chain increases.…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However,…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
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,…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Product disassembly plays a crucial role in the recycling, remanufacturing, and reuse of end-of-use (EoU) products. However, the current manual disassembly process is inefficient due to the complexity and variation of EoU products. While…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
The design of the humanoid ankle is critical for safe and efficient ground interaction. Key factors such as mechanical compliance and motor mass distribution have driven the adoption of parallel mechanism architectures. However, selecting…
As an important contributor to GDP growth, the construction industry is suffering from labor shortage due to population ageing, COVID-19 pandemic, and harsh environments. Considering the complexity and dynamics of construction environment,…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Reinforcement learning (RL) has enabled advances in humanoid robot locomotion, yet most learning frameworks do not account for mechanical intelligence embedded in parallel actuation mechanisms due to limitations in simulator support for…
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…
Objective: The status of human-robot collaboration for assembly applications is reviewed and key current challenges for the research community and practitioners are presented. Background: As the pandemic of COVID-19 started to surface the…
A long-standing goal of the Human-Robot Collaboration (HRC) in manufacturing systems is to increase the collaborative working efficiency. In line with the trend of Industry 4.0 to build up the smart manufacturing system, the Co-robot in the…
Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…