Recently, the identification of inertia and damping matrices (IIDM) safety issues, as well natural cooperation, are interestingly considered to enhance quality physical human–robot interaction (pHRI). To cover all these advanced admittance controllers, such those based on fuzzy logic or hedge algebras, have been formulated successfully applied in several industrial problems. However, inference ...

When a robot performs task next to human, physical interaction is inevitable: the human might push, pull, twist, or guide robot. The state of art treats these interactions as disturbances that should reject avoid. At best, robots respond safely while interacts; but after lets go, simply return their original behavior. We recognize human–robot (pHRI) often intentional: intervenes on purpose beca...

This paper summarizes findings on the growing field of role assignment policies for human–robot motor interaction. This topic has been investigated by researchers in the psychological theory of joint action, in human intention detection, force control, human–human physical interaction, as well as roboticists interested in developing robots with capabilities for efficient motor interaction with ...

The robot is becoming more and more part of the normal life that emerged some conflicts, like: How could a safe physical human robot interaction happen and what kind of problems had to be solved for a successful interaction? This paper describes a scenario of interactions between human and robots and it pointed out the improvement of the robot motion using a machine learning algorithm based on ...

This research work is concerned with the problem of the human cooperating with the robot in a manufacturing environment. We consider the HumanRobot Team as an integrated system and present it as a solution for meeting future requirements in highly flexible manufacturing systems. The main idea is to combine the complementary capabilities of humans and robots through interaction at the physical l...

Joint-action is one of the key research areas in robotics and especially important in physical human-robot interaction. The two main criteria for robots, which should be integrated in everyday life, are safety and efficiency. Therefore, it is of particular interest to understand how humans work together in order to transfer the resulting facts from these studies to direct human-robot interactio...

Robots capable of providing physical assistance to a human partner face a wide area of application scenarios ranging from manufacturing assistance, physical rehabilitation to mobility aids for the elderly. Yet, the physical nature of the coupling present in cooperative manipulation tasks and the uncertain contribution of the human partner make physical robotic assistance a challenging topic of ...