Physical Human-Robot Interaction with Real Active Surfaces using Haptic Rendering on Point Clouds
Michael Sommerhalder,Yves Zimmermann,Burak Cizmeci,Robert Riener,Marco Hutter,Michael Sommerhalder,Yves Zimmermann,Burak Cizmeci,Robert Riener,Marco Hutter
During robot-assisted therapy of hemiplegic patients, interaction with the patient must be intrinsically safe. Straight-forward collision avoidance solutions can provide this safety requirement with conservative margins. These margins heavily reduce the robot's workspace and make interaction with the patient's unguided body parts impossible. However, interaction with the own body is highly benefic...
