Human–robot interaction sensing is a compulsory feature in modern robotic systems where
direct contact or close collaboration is desired. Rehabilitation and assistive robotics are …

Force feedback is necessary for accurate force control in robotic manipulators, and thus far,
wrist force/torque (F/T) sensors have been used. But an important problem arises when only …

In robotic contour-following tasks, such as sewing or cutting, an industrial robot guides a tool
along the contour of a workpiece. Manually teaching the robot is time consuming and results …

Robots executing force controlled tasks require accurate perception of the applied force in
order to guarantee precision. However, dynamic motions generate non-contact forces due to …

The potential areas of application for robots have gradually extended beyond the classical
industrial settings in large-scale enterprizes: nowadays, the integration of robots into daily …

In this work, we present implementation and experiment of the theory of dynamic force
sensing for robotic manipulators. In the robot manipulation context, end-effector contact …

As robotic systems are becoming more complex, distributed, and integrated, there is the
need to build sophisticated frameworks to embody intelligence in the robot. This paper …

Regarding manipulators with wrist-mounted force/torque sensors a major issue is the high
execution time of force-guided and force-guarded motions compared to purely position …

This paper focusses on sensor fusion in robotic manipulation: 6D force/torque signals and
6D acceleration signals are used to extract forces and torques caused by inertia. As result …

A new design of a robust impedance controller for constrained robotic manipulators is
presented. The main objective is to stabilize asymptotically, in the task space, the robotic …