Estimation of the Interaction Forces in a Compliant pHRI Gripper

Physical human–robot interaction (pHRI) is an essential skill for robots expected to work with humans, such as assistive or rescue robots. However, due to hard safety and compliance constraints, pHRI is still underdeveloped in practice. Tactile sensing is vital for pHRI, as constant occlusions while...

Πλήρης περιγραφή

Λεπτομέρειες βιβλιογραφικής εγγραφής

Κύριοι συγγραφείς:	Francisco J. Ruiz-Ruiz, Cristina Urdiales, Jesús M. Gómez-de-Gabriel
Μορφή:	Artigo
Γλώσσα:	Inglês
Έκδοση:	MDPI AG 2022-11-01
Σειρά:	Machines
Θέματα:	physical human–robot interaction underactuated grippers kinodynamic finger model proprioceptive force sensing interaction force calculation
Διαθέσιμο Online:	https://www.mdpi.com/2075-1702/10/12/1128
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