Human–robot co-manipulation during surface tooling: a general framework based on impedance control, haptic rendering and discrete geometry

• Main Authors: Kana, Sreekanth, Tee, Keng-Peng, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Aeronautical engineering; Virtual Fixtures; Triangular Mesh Model
• Online Access: https://hdl.handle.net/10356/159676
• Institution: Nanyang Technological University

Despite the advancements in machine learning and artificial intelligence, there are many tooling tasks with cognitive aspects that are rather challenging for robots to handle in full autonomy, thus still requiring a certain degree of interaction with a human operator. In this paper, we propose a the...