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Exoscarne: Assistive Strategies for an Industrial Meat Cutting System Based on Physical Human-Robot Interaction

Abstract : Musculoskeletal disorders of the wrist are common in the meat industry. A proof of conceptof a physical human-robot interaction (pHRI)-based assistive strategy for an industrial meat cuttingsystem is demonstrated which can be transferred to an exoskeleton later. We discuss how a robot canassist a human in pHRI, specifically in the context of an industrial project i.e for the meat cuttingindustry. We developed an impedance control-based system that enables a KUKA LWR robot toprovide assistive forces to a professional butcher while simultaneously allowing motion of the knife(tool) in all degrees of freedom. We developed two assistive strategies — a force amplification strategyand an intent prediction strategy - and integrated them into an impedance controller
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https://hal.uca.fr/hal-03209657
Contributor : Juan Antonio Corrales Ramon <>
Submitted on : Tuesday, April 27, 2021 - 1:26:05 PM
Last modification on : Friday, April 30, 2021 - 3:08:24 AM

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Distributed under a Creative Commons Attribution 4.0 International License

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  • HAL Id : hal-03209657, version 1

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Harsh Maithani, Juan Antonio Corrales Ramon, Laurent Lequievre, Youcef Mezouar, Matthieu Alric. Exoscarne: Assistive Strategies for an Industrial Meat Cutting System Based on Physical Human-Robot Interaction. Applied Sciences, MDPI, 2021, 11 (9), pp.3907. ⟨hal-03209657⟩

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