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Physical Human-Robot Interaction

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Abstract

Robots and humans can nowadays share their workspace safely. This possibility has been enabled by a combination of technologies leading to the so-called cobots, robots that can physically interact with humans to collaborate with them in the execution of several tasks in different application domains, from manufacturing to healthcare, from inspection to maintenance. This chapter reviews all such technologies, which range from innovative actuation systems, such as series elastic actuators or highly integrated torque controlled joints, to sensing systems, such as joint torque sensors and force/tactile devices or 3D vision systems for tracking of humans acting in the robot workspace. Another major technological advancement that enabled safe physical human-robot interaction (pHRI) is the compliance control of robotic manipulators in conjunction with smart collision detection and reaction strategies to be adopted in case of accidental human-robot contacts. Programming of robots that are allowed to physically interact with humans is by far more intuitive than standard programming procedures and, again, this is enabled by smart technologies like haptic gestures recognition in combination with advanced torque control or tactile skin devices.

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Authors and Affiliations

  1. Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli, Aversa, Italy

    Ciro Natale

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  1. Ciro Natale
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Correspondence to Ciro Natale .

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Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, MA, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, MN, USA

    Tariq Samad

Section Editor information

  1. Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

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Natale, C. (2020). Physical Human-Robot Interaction. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_100033-1

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  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_100033-1

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-5102-9

  • Online ISBN: 978-1-4471-5102-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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