Low-Impedance Displacement Sensors for Intuitive Physical Human-Robot Interaction

This video demonstrates the physical interaction between a human user and a 5-dof robot equipped with two 3-dof passive sensing shells mounted on the links. There are no force/torque sensors. The motion of the passive shells is measured using encoders and used to guide the motion of the robot. It can be observed that the robot responds very intuitively to the input motion of the user and that the interaction impedance and forces are very low. The physical interaction between the person and the robot is decoupled from the robot's structure, yielding high responsiveness and allowing the human user to deploy their own impedance.
The details are provided in the following article:
Laliberté, T. and Gosselin, C., 2021, "Low-Impedance Displacement Sensors for Intuitive Physical Human-Robot Interaction: Motion Guidance, Design and Prototyping", to appear in the IEEE Transactions on Robotics.

[@raminghaedrahmati4411]

That's perfect. It can really improve Human Robot interaction in robotics industry.

[@kingmasterlord]

hell yeah, out here making Spot wearable like the Fallout/40K fans and Gundam fans looking to iterate

[@jasonl3445]

Sweet