Research paper
Safe Physical Human-Robot Interaction through Variable Impedance Control based on ISO/TS 15066
The study proposes variable impedance control for power-and-force-limited collaboration and compares it on two robot platforms. Its safety-compliance statement is the authors' claim. Assess the actual contact tests, body locations and system-level safety functions before applying the approach to an installation.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Safe Physical Human-Robot Interaction through Variable Impedance Control based on ISO/TS 15066
- Publisher
- arXiv
- Authors
- Ghanbarzadeh, Armin, Najafi, Esmaeil
- DOI
- 10.48550/arxiv.2311.13814
- First archive posting
- 2023-11-23
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Archive manuscript · linked publication metadata
Related resources and engineering notes
Source overview
The study proposes variable impedance control for power-and-force-limited collaboration and compares it on two robot platforms. Its safety-compliance statement is the authors' claim. Assess the actual contact tests, body locations and system-level safety functions before applying the approach to an installation.
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
Safe Physical Human-Robot Interaction through Variable Impedance Control based on ISO/TS 15066 ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2023-11-23, abstract reviewed in v1. Publisher dates are separate.