Quantitative Safety Guarantees for Physical Human-Robot Interaction

@article{Heinzmann2003QuantitativeSG,
  title={Quantitative Safety Guarantees for Physical Human-Robot Interaction},
  author={Jochen Heinzmann and Alexander Zelinsky},
  journal={The International Journal of Robotics Research},
  year={2003},
  volume={22},
  pages={479 - 504}
}
If robots are to be introduced into the human world as assistants to aid a person in the completion of a manual task two key problems of today's robots must be solved. The human-robot interface must be intuitive to use and the safety of the user with respect to injuries inflicted by collisions with the robot must be guaranteed. In this paper we describe the formulation and implementation of a control strategy for robot manipulators which provides quantitative safety guarantees for the user of… 

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