3 accepted papers
Utilizing the intrinsic capability of the human upper limb to absorb energy during kinesthetic human-robot interaction could allow for improved haptic feedback fidelity and reduce the conservatism of control in pHRI and telerobotic systems. However, estimating this energetic signature is complex. In
The human arm has an intrinsic capacity to absorb energy during physical human-robot interaction (pHRI), which can be identified as biomechanical excess of passivity (EoP). This can be used as a central factor in the development of passivity-based pHRI controllers securing haptic transparency while
The human limb possesses a remarkable capacity to absorb energy during physical human-robot interaction (pHRI), which can be quantified as the biomechanical “Excess of Passivity” (EoP) using non-linear control theory. This biome-chanical passivity index can be used to reduce conservatism and increas…