Human–robot collaboration (HRC) plays a pivotal role in today's industry by supporting
increasingly customised product development. Via HRC, the strengths of humans and robots …

Due to the epidemic threat, more and more companies decide to automate their production
lines. Given the lack of adequate security or space, in most cases, such companies cannot …

In this letter, we introduce a novel regressor-based observer method to adapt an initially
erroneous dynamics model of serial manipulators for improving collision detection …

As robots begin to collaborate with people in real life, safety needs to be rigorously ensured
to reliably employ robots nearby. In addition to collision prevention algorithms, studies are …

Momentum observer (MOB) can estimate external joint torque without requiring additional
sensors, such as force/torque or joint torque sensors. However, the estimation performance …

Existing model-based collision detection methods rely on accurate torque dynamic
parameters identified using measured joint torques. However, for robots lacking joint torque …

Safety during physical human–robot interaction is the most basic requirement for robots.
Collision detection without additional sensors is an economically feasible way to ensure it. In …

Collision detection is the core issue in physical human–robot interactions, and many
detection methods based on robot dynamic models have been proposed. However, model …

The main challenges of modular robot manipulators (MRMs) with the environmental
constraints include the avoidance of catastrophic collision and the precious contacting in the …

Robot manipulators play a crucial role in various industrial and research settings, requiring
precise and controlled interactions with their surroundings. Achieving this goal with fewer …