2022
Towards Safe Physical Human-Robot Interaction by Exploring the Rapid Stiffness Switching Feature of Discrete Variable Stiffness Actuation
Zhenwei Niu, Mohammad I. Awad, Umer Hameed Shah, Mohamed Nassim Boushaki, Yahya H. Zweiri, Lakmal D. Seneviratne +1
RA-L 2022
Safety holds the prime importance in direct physical human-robot interaction (pHRI) tasks. Robots should have the ability to handle unexpected collisions in unstructured environments. Collision avoidance based on exteroceptive sensors can work in these scenarios. However, it may not be sufficient, e