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• W4220732559 endingPage "102768" @default.
• W4220732559 startingPage "102768" @default.
• W4220732559 abstract "Many applications of physical human–robot interaction (pHRI) seek to minimize the impedance felt by the operator. For large-scale operations, such as industrial material handling, two architectures have been proposed. The first uses a rigid robotic manipulator with force sensing and an admittance controller, such as the class of Intelligent Assist Devices (IADs). The second utilizes an underactuated macro-mini manipulator system, such as the uMan Assist Device. Given an application with a large payload, which of these two systems can offer the lowest inertia interaction? This work analyzes the effective inertia experienced by the operator in each of the systems. It compares the conditions under which each provides the lightest manipulation, conditions that depend on the payload as well as the frequency of manipulation. The results are validated on a large overhead robotic system configured alternatively in each of the configurations." @default.
• W4220732559 created "2022-04-03" @default.
• W4220732559 creator A5025530817 @default.
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• W4220732559 date "2022-06-01" @default.
• W4220732559 modified "2023-10-18" @default.
• W4220732559 title "How to reduce the impedance for pHRI: Admittance control or underactuation?" @default.
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• W4220732559 doi "https://doi.org/10.1016/j.mechatronics.2022.102768" @default.
• W4220732559 hasPublicationYear "2022" @default.
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