Collision detection and reaction: A contribution to safe physical Human-Robot Interaction

@article{Haddadin2008CollisionDA,
  title={Collision detection and reaction: A contribution to safe physical Human-Robot Interaction},
  author={Sami Haddadin and Alin O. Albu-Sch{\"a}ffer and Alessandro De Luca and Gerd Hirzinger},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={3356-3363}
}
In the framework of physical human-robot interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to the human during physical interaction. Several collision tests were carried out, illustrating the… 
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509 Citations

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