Over the last two decades, the foundations for physical human–robot interaction (pHRI) have
evolved from successful developments in mechatronics, control, and planning, leading …

This paper presents human-robot cooperation with adaptive behavior of the robot, which
helps the human operator to perform the cooperative task and optimizes its performance. A …

Most industrial robots are not capable of teaching by hand and require path points to be
specified by teaching pendants. To enable the teaching of industrial robots by hand without …

Force control enables hands-on teaching and physical collaboration, with the potential to
improve ergonomics and flexibility of automation. Established methods for the design of …

This paper revisits the concept of underactuated manipulator in order to significantly improve
physical human-robot cooperation for the assembly industry. The main focus is to achieve …

In 3D printer design, special care must be taken when choosing the print head positioning
mechanism. Indeed, this choice has a significant influence on the manufacturing accuracy …

Robotic devices can be leveraged to raise the abilities of humans to perform demanding and
complex tasks with less effort. Although the first priority of such human-robot interaction …

This paper presents a cable-suspended crane system to assist operators in moving and
lifting large payloads. The main objective of this work is to develop a simple and reliable …

This paper presents a time-domain vibration observer and controller for physical Human-
Robot Interaction (pHRI). The proposed observer/controller aims at reducing or eliminating …

With increasing attention to physical human-machine interaction (pHMI), new control
methods involving contact force regulation in collaborative and coexistence scenarios have …