Claudio Glowalla — accepted AI-conference papers

2024

Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands

Nikolas Wilhelm, Claudio Glowalla, Sami Haddadin, Julian Schote, Hannes Höppner, Patrick van der Smagt +2

ICRA 2024poster

This study presents an innovative test rig engineered to explore the kinematic and viscoelastic characteristics of human specimen hands. The rig features eight force-controlled motors linked to muscle tendons, enabling precise stimulation of hand specimens. Hand movements are monitored through an op…

Cited by 0 Source ↗Scholar ↗

2024

Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database

Robin Jeanne Kirschner, Carina M. Micheler, Yangcan Zhou, Sebastian Siegner, Mazin Hamad, Claudio Glowalla +4

ICRA 2024poster

The use of pointed or edged tools or objects is one of the most challenging aspects of today’s application of physical human-robot interaction (pHRI). One reason for this is that the severity of harm caused by such edged or pointed impactors is less well studied than for blunt impactors. Consequentl…

Cited by 4 Source ↗Scholar ↗

2024

Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand

Robin Jeanne Kirschner, Jinyu Yang, Edonis Elshani, Carina M. Micheler, Tobias Leibbrand, Dirk Müller +4

IROS 2024

Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts, these impact thresholds are difficult to use on edged or poin

Cited by 8 Source ↗Scholar ↗