A Model for Operator Endpoint Stiffness Prediction during Physical Human-Robot Interaction

A Model for Operator Endpoint Stiffness Prediction During Physical Human-Robot Interaction

Physical contact established during interaction between a human operator and a haptic device creates a coupled system with stability and performance characteristics different than its individual subsystems taken in isolation. Proper incorporation of operator dynamics in physical human-robot interaction (pHRI) conditions requires knowledge of system variables and parameters, some of which are no...

Physical Human – Robot Interaction

C lose physical interaction between robots and humans is a particularly challenging aspect of robot development. For successful interaction and cooperation, the robot must have the ability to adapt its behavior to the human counterpart. Based on our earlier work, we present and evaluate a computationally efficient machine learning algorithm that is well suited for such close-contact interaction...

Mechanically stiffness-adjustable actuator using a leaf spring for safe physical human-robot interaction

Automated Prediction of Extraversion during Human-Robot Interaction

This paper introduces an automatic system for the prediction of extraversion during the first minutes interaction between humans and and a humanoid robot. In such interactions the behavioural response of people depends by their personality traits and by their attitude towards robots. A set of non-verbal features is proposed to characterize such behavioural responses. Results obtained using such...

A User Study on Personalized Stiffness Control and Task Specificity in Physical Human–Robot Interaction

An ideal physical human–robot interaction (pHRI) should offer the users robotic systems that are easy to handle, intuitive to use, ergonomic and adaptive to human habits and preferences. But the variance in the user behavior is often high and rather unpredictable, which hinders the development of such systems. This article introduces a Personalized Adaptive Stiffness controller for pHRI that is...