19 citations · 35 across the 8 of their papers we have counts for
8 papers
Reactive and Safety-Aware Path Replanning for Collaborative Applications
Cesare Tonola, Marco Faroni, Saeed Abdolshah +4
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners ar…
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Edmundo Pozo Fortunić, Mehmet C. Yildirim, Dennis Ossadnik +3
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA)…
Fast yet predictable braking manoeuvers for real-time robot control
Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba +5
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain fe…
BSA -- Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu +4
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the e…
ISO/TS 15066: How Different Interpretations Affect Risk Assessment
Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah +1
The current technical specification ISO/TS15066:2016(E) for safe human-robot interaction contains logically conflicting definitions for the contact between human and robot. This ma…
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction
Robin Jeanne Kirschner, Henning Mayer, Lisa Burr +3
In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation tow…
Evaluation of Forward Fall on the Outstretched Hand Using MADYMO Human Body Model
Nader Rajaei, Saeed Abdolshah, Yasuhiro Akiyama +2
Falls and their related injuries pose a significant risk to human health. One of the most common falls, the forward fall, frequently occurs among adults and the elderly. In this st…
Rigid Material on Top of a Compliant Flooring Effectively Reduces the Impact Force In The Event of a Forward Fall
Nader Rajaei, Saeed Abdolshah, Yasuhiro Akiyama +2
The biomechanical studies have proposed several forward fall arresting strategies to reduce the impact forces in a human-robot collaboration environment. A proposed strategy is usi…