Research paper

Touch-guided teaching and evasive arm motion

A torque-controlled seven-axis lightweight arm lets a person teach movements by touching it. During task execution, touched links move away while the tool orientation is maintained.

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: Programming by touch: the different way of human-robot interaction
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Authors: G. Grunwald, G. Schreiber, A. Albu-Schaffer, G. Hirzinger
DOI: 10.1109/tie.2003.814759
Journal issue date: 2003-08
Source language: en
Source country: US
Edition: IEEE Transactions on Industrial Electronics
Access: Public bibliography and abstract
Publication status: Published

Source overview

A torque-controlled seven-axis lightweight arm lets a person teach movements by touching it. During task execution, touched links move away while the tool orientation is maintained.

Use and review

Contact results apply to the described mechanism, controller and test conditions. They do not establish universal human injury thresholds or a certified protective function.

Sources & editions

Programming by touch: the different way of human-robot interaction ↗

Institute of Electrical and Electronics Engineers (IEEE) · IEEE Transactions on Industrial Electronics

Author-institution abstract, authors, DOI and August2003 journal issue checked. Repository note separately gives abstract Internet release2003-05-26; not treated as issue date.