Скачать или смотреть Low-Impedance Sensorless Physical Human-Robot Interaction with a Parallel Robot

This video presents a kinematically redundant 9-DoF parallel robot designed for low-impedance, sensorless physical human-robot interaction. All actuators are located on the base of the robot, resulting in low moving mass and reduced inertia at the end-effector.

The robot relies on backdrivable direct-drive motors for proprioceptive actuation, enabling intuitive, low-impedance, and high-bandwidth physical interaction without the need for force or torque sensors. This architecture is well suited for safe and responsive human-robot interaction tasks.

Arda Yigit, Simon Foucault, Thierry Laliberté, David Breton, Zhou Zhou, Clément Gosselin
Control Engineering Practice, Volume 169, April 2026
https://doi.org/10.1016/j.conengprac....

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