Virtual adjustable joint stiffness toward a safer human/robot interaction

DOI10.1007/978-3-030-92442-3_16zbMath1504.93243OpenAlexW4205859756MaRDI QIDQ2101753

Joseph Diab, Gérard Poisson, Cyril Novales, Aïcha Fonte

Publication date: 6 December 2022

Full work available at URL: https://doi.org/10.1007/978-3-030-92442-3_16

zbMATH Keywords

physical human-robot interactionjoint flexibility controlvirtual adjustable stiffness

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Uses Software

• OpenPHRI

Cites Work

• OpenPHRI
• Modeling and Control of Elastic Joint Robots
• Deflection and potential energy of linear and nonlinear springs: approximate expressions in terms of generalized coordinates
• Dynamics Calibration and Real-Time State Estimation of a Redundant Flexible Joint Robot Based on Encoders and Gyroscopes
• Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots

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