First Italian Conference on Robotics and Intelligent Machines
Published October 18, 2019 | Version v1
Conference paper Open

A Human Wearable Framework for Physical Human-Robot Interaction

Description

Physical interaction between humans and robots is more and more frequently required in the modern society. We introduce a novel framework endowing robots with the ability to perceive humans while collaborating at the same task. The framework embodies a human wearable system (i.e., motion tracking suit, force/torque sensors shoes) and a probabilistic algorithm for the human floating-base whole-body kinematics and dynamics estimation.

Notes

https://youtu.be/26fKZHzUdl4

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A Human Wearable Framework for Physical Human-Robot Interaction.pdf

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