Research paper
A Passivity Based Framework for Safe Physical Human Robot Interaction
A wrist force/torque sensor supports hybrid force, tangential velocity and surface-alignment control for assistive contact. Stability/passivity analysis accompanies simulation and manipulator experiments. Passive interaction is relevant evidence, but allowable contact loads and individual user needs require their own validation.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- A Passivity Based Framework for Safe Physical Human Robot Interaction
- Publisher
- arXiv
- Authors
- Ding, Z., Baghbahari, M., Behal, A.
- DOI
- 10.48550/arxiv.2202.02900
- First archive posting
- 2022-02-07
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
A wrist force/torque sensor supports hybrid force, tangential velocity and surface-alignment control for assistive contact. Stability/passivity analysis accompanies simulation and manipulator experiments. Passive interaction is relevant evidence, but allowable contact loads and individual user needs require their own validation.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
A Passivity Based Framework for Safe Physical Human Robot Interaction ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2022-02-07, abstract reviewed in v1. Publisher dates are separate.