Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: During the last decades, interaction (with humans and with the environment) has become an increasingly interesting topic of research within the field of robotics. At the basis of interaction, a fundamental role is played by the ability to actively regulate the interaction forces.   propose a technique for controlling the interaction forces exploiting a proximal six axes force/torque sensor. The major assumption is the knowledge of the point where external forces are applied. The proposed approach is tested and validated on the four limbs of the iCub, a humanoid robot designed for research in embodied cognition. Remarkably, the proposed approach can be used to implement active compliance in other non passively back-drivable manipulators by simply inserting one or more force/torque sensor anywhere along the kinematic chain.
['Matteo Fumagalli', 'Marco Randazzo', 'Francesco Nori', 'Lorenzo Natale', 'Giorgio Metta', 'Giulio Sandini']
I am writing a research paper on a idea Exploiting proximal F/T measurements for the iCub active compliance
[{"from": "human", "value": "I am writing a research paper on a idea Exploiting proximal F/T measurements for the iCub active compliance"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: During the last decades, interaction (with humans and with the environment) has become an increasingly interesting topic of research within the field of robotics. At the basis of interaction, a fundamental role is played by the ability to actively regulate the interaction forces.   propose a technique for controlling the interaction forces exploiting a proximal six axes force/torque sensor. The major assumption is the knowledge of the point where external forces are applied. The proposed approach is tested and validated on the four limbs of the iCub, a humanoid robot designed for research in embodied cognition. Remarkably, the proposed approach can be used to implement active compliance in other non passively back-drivable manipulators by simply inserting one or more force/torque sensor anywhere along the kinematic chain."}]