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Variable stiffness actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities...
In the framework of physical human-robot interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to...
In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday environments. The crucial issues needed to tackle the problem of a safe and dependable physical human-robot interaction (pHRI) were addressed in the EURON Perspective Research Project PHRIDOM (Physical Human- Robot Interaction in Anthropic Domains), aimed at charting...
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