Robot assistants and professional coworkers are becoming a commodity in domestic and
industrial settings. In order to enable robots to share their workspace with humans and …

A broad spectrum of issues have to be addressed in order to tackle the problem of a safe
and dependable physical Human–Robot Interaction (pHRI). In the immediate future, metrics …

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

A robot manipulator sharing its workspace with humans should be able to quickly detect
collisions and safely react for limiting injuries due to physical contacts. In the absence of …

We consider the problem of real-time detection of collisions between a robot manipulator
and obstacles of unknown geometry and location in the environment without the use of extra …

In the immediate future, metrics related to safety and dependability have to be found in order
to successfully introduce robots in everyday environments. The crucial issues needed to …

The vision of seamless human-robot interaction in our everyday life that allows for tight
cooperation between human and robot has not become reality yet. However, the recent …

High-performance collision handling, which is divided into the five phases detection,
isolation, estimation, classification and reaction, is a fundamental robot capability for safe …

We present a method that allows automatic reaction of a robot to physical collisions, while
preserving as much as possible the execution of a Cartesian task for which the robot is …

Over the last decade, safe physical Human-Robot Interaction (pHRI) has been made
possible due to significant advances in mechatronics, control, and planning. One result of …