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Safety is an important consideration during physical Human-Robot Interaction (pHRI). Recently the community has tested numerous new safety features for robots, including accurate joint torque sensing, gravity compensation, reduced robot mass, and joint torque limits. Although these methods have reduced the risk of high energy collisions, they rely on(More)
Effective physical Human-Robot Interaction (pHRI) needs to account for variable human dynamics and also predict human intent. Recently, there has been a lot of progress in adaptive impedance and admittance control for human-robot interaction. Not as many contributions have been reported on online adaptation schemes that can accommodate users with varying(More)
In this paper, we compare the performance of physical and non-physical interfaces for the behavior of a personal robot. The PR2 robot was programmed as a waiter with co-manipulation capabilities and experimentally tested with respect to a trajectory following task. For physical interaction (pushing/pulling), we implemented a compliance controller for(More)
In this paper, we present a novel system to drive a robotic prosthetic hand through the measurement of intra-socket pressure, and gesture selection from the healthy hand. A prototype HRI interface was implemented and used to compare the proposed method with standard state of practice. Grip-selection was made using finger pinch-gestures, was shown to have(More)
In this paper we present a novel automated neuroadaptive approach that can characterize pressure sensitive “skin” deployed on a robot. Both the safety and performance of future co-robots can be greatly enhanced by such sensorized skin, by measuring multiple contact forces with humans and the environment. A challenge that arises with robot skin(More)
In this paper, we describe a software framework for programming by demonstration (PbD) using kinesthetic teaching. A Personal Robot 2 (PR2) robot platform was used to demonstrate teaching effectiveness and conduct dual arm manipulation operations during a wine pouring demonstration. During the teaching process, an operator directs the PR2 arms to execute(More)
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