Towards Safe Physical Human-Robot Interaction by Exploring the Rapid Stiffness Switching Feature of Discrete Variable Stiffness Actuation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3185366
Abstract: Safety holds the prime importance in direct physical human-robot interaction (pHRI) tasks. Robots should have the ability to handle unexpected collisions in unstructured environments. Collision avoidance based on exteroceptive sensors can work in these scenarios.… read more here.
Keywords: robot interaction; stiffness switching; stiffness; human robot ... See more keywords
Enhancing Physical Human Evasion of Moving Threats Using Tactile Cues
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Haptics"
DOI: 10.1109/toh.2019.2962664
Abstract: New human-centric approaches to safety can combine over-head camera views with situational awareness tools to enable humans to avoid rapidly evolving threats such as moving machines or falling debris. This article explores how 360° information… read more here.
Keywords: physical human; moving threats; human evasion; evasion moving ... See more keywords
Physical Human-Robot Interaction Using HandsOn-SEA: An Educational Robotic Platform With Series Elastic Actuation
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Haptics"
DOI: 10.1109/toh.2021.3081982
Abstract: For gaining proficiency in physical human-robot interactions, it is crucial for engineering students to be provided with the opportunity to gain hands-on experience with robotic devices that feature kinesthetic feedback. In this article, we propose… read more here.
Keywords: handson sea; physical human; robotics; robot ... See more keywords
Interday Reliability of Upper-limb Geometric MyoPassivity Map for Physical Human-Robot Interaction.
Sign Up to like & getrecommendations! Published in 2023 at "IEEE transactions on haptics"
DOI: 10.1109/toh.2023.3277453
Abstract: The value of intrinsic energetic behavior of human biomechanics has recently been recognized and exploited in physical human-robot interaction (pHRI). The authors have recently proposed the concept of "Biomechanical Excess of Passivity," based on nonlinear… read more here.
Keywords: robot interaction; human robot; upper limb; physical human ... See more keywords
Drivable Space of Rehabilitation Robot for Physical Human–Robot Interaction: Definition and an Expanding Method
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3189231
Abstract: Physical human–robot interaction performance of present rehabilitation robots are still not satisfactory in the clinical practice. Especially, the work space where the robot can be driven smoothly by users is still very limited, which prevents… read more here.
Keywords: drivable space; space; rehabilitation; human robot ... See more keywords
Involuntary Stabilization in Discrete-Event Physical Human–Robot Interaction
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Systems, Man, and Cybernetics: Systems"
DOI: 10.1109/tsmc.2022.3184960
Abstract: Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human–robot interactions. In these interactions, there is a risk that a feedback loop causes… read more here.
Keywords: interaction; discrete event; human robot; physical human ... See more keywords
Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human–Robot Interaction
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4042295
Abstract: This paper presents the design of a two-degrees-of-freedom (DoFs) variable stiffness mechanism and demonstrates how its adjustable compliance can enhance the robustness of physical human–robot interaction. Compliance on the grasp handle is achieved by suspending… read more here.
Keywords: physical human; variable stiffness; interaction; stiffness mechanism ... See more keywords
Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4048258
Abstract: This paper extends the concept of underactuated redundancy for physical human–robot interaction (pHRI) in a context of industrial assembly by introducing a novel 1-dof gravity balanced rotational manipulator. The proposed architecture consists of a rotational… read more here.
Keywords: low impedance; rotational low; underactuated redundancy; physical human ... See more keywords
Ergodicity reveals assistance and learning from physical human-robot interaction
Sign Up to like & getrecommendations! Published in 2019 at "Science Robotics"
DOI: 10.1126/scirobotics.aav6079
Abstract: A measure of task information encoded by motion identifies differences between movements that are not captured by standard measures. This paper applies information theoretic principles to the investigation of physical human-robot interaction. Drawing from the… read more here.
Keywords: motion; information; assistance; physical human ... See more keywords
A robot for overground physical human-robot interaction experiments
Sign Up to like & getrecommendations! Published in 2022 at "PLOS ONE"
DOI: 10.1371/journal.pone.0276980
Abstract: Many anticipated physical human-robot interaction (pHRI) applications in the near future are overground tasks such as walking assistance. For investigating the biomechanics of human movement during pHRI, this work presents Ophrie, a novel interactive robot… read more here.
Keywords: interaction; robot interaction; human robot; robot ... See more keywords
Effect of External Force on Agency in Physical Human-Machine Interaction
Sign Up to like & getrecommendations! Published in 2020 at "Frontiers in Human Neuroscience"
DOI: 10.3389/fnhum.2020.00114
Abstract: In the advent of intelligent robotic tools for physically assisting humans, user experience, and intuitiveness in particular have become important features for control designs. However, existing works predominantly focus on performance-related measures for evaluating control… read more here.
Keywords: human machine; physical human; agency; sense agency ... See more keywords