Suchergebnisse

Musculoskeletal disorders of the wrist are common in the meat industry. A proof of concept of a physical human-robot interaction (pHRI)-based assistive strategy for an industrial meat cutting system is demonstrated which can be transferred to an exoskeleton later. We discuss how a robot can assist a human in pHRI, specifically in the context of an industrial project i.e for the meat cutting industry. We developed an impedance control-based system that enables a KUKA LWR robot to provide assistive forces to a professional butcher while simultaneously allowing motion of the knife (tool) in all degrees of freedom. We developed two assistive strategies—a force amplification strategy and an intent prediction strategy—and integrated them into an impedance controller ; This research received funding from the French government research program Investissements d'Avenir through the UMTs ACTIA Mécarnéo-AgRobErgo and the project Exoscarne (Call P3A-ICF2A-2I2A, FranceAgriMer) and from the European Union's Horizon 2020 research and innovation programme under grant agreement nº 869855 (SoftManBot project) ; SI