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Research paper

Limiting robot impact through torque control

The paper restricts manipulator torque commands to preset impact constraints, considering contact with the arm’s surfaces as well as its hand. The abstract describes a gaze-selected tabletop handover example.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.
Original title
Quantitative Safety Guarantees for Physical Human-Robot Interaction
Publisher
SAGE Publications
Authors
Jochen Heinzmann, Alexander Zelinsky
DOI
10.1177/02783649030227004
Publication date
2003-07
Source language
en
Edition
IJRR22(7–8),479–504;2003
Access
Publisher abstract · restricted full text
Publication status
Published

Source overview

The paper restricts manipulator torque commands to preset impact constraints, considering contact with the arm’s surfaces as well as its hand. The abstract describes a gaze-selected tabletop handover example.

Use and review

Publisher abstract reviewed; restricted full text not acquired. Results are specific to the described robot, controller and contact assumptions, not universal human injury limits.

Sources & editions

Quantitative Safety Guarantees for Physical Human-Robot Interaction ↗

SAGE Publications · IJRR22(7–8),479–504;2003

SAGE publisher abstract, title/authors, restricted-access notice and month-only first-publication statement verified via web tool. DirectHTTP403 alternative succeeded through web tool.