Bounded Energy Collisions in Human–Robot Cooperative Transportation

In this article, we introduce the notion of bounded energy collision for physical human–robot collaboration to allow safe interaction with the environment, by keeping the collision impact within predetermined bounds. The proposed method is based on energy dissipation, implemented by a variable damping strategy along the direction of imminent collisions with the environment, and fully complies with any physical human–robot interaction strategy that combines an indirect force control (e.g., impedance control) with an estimation of the human motion intention. Finally, extensive experimental studies clarify and verify the proposed scheme.