2024
Whole-Body Intuitive Physical Human-Robot Interaction With Flexible Robots Using Non-Collocated Proprioceptive Sensing
RA-L 2024
This letter presents a method enabling intuitive physical human-robot interaction (pHRI) with flexible robots using an end-point sensing device. The device is a passive serial chain of encoders and lightweight links, mounted in parallel with the manipulator. By measuring the deflection of the end-ef