2026
Fast Contact Detection Via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration
ICRA 2026poster
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on inertial measurement units (IMUs) consisting of accelerometers an…