xR = 0.16 m/s Maximum Joint-Torques Exceeded 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 Time t (s) Force (N) Force (N) 300 250 200 150 100 50 0 1 350 300 250 200 150 100 50 0 xR = 0.64 m/s Maximum Joint-Torques Exceeded 0 0.05 0.1 0.15 Time t (s) 0.2 0.25 0.3 (a) xR = 0.16 m/s 80 Mounting 60 40 20 0 0.1 0.2 0.3 0.4 0.5 0.6 Time t (s) 0.7 0.8 Mounting 150 100 50 0 0 xR = 0.64 m/s 200 Force (N) Force (N) 100 0.9 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 Time t (s) (b) xR = 0.16 m/s 80 60 Mounting 40 20 0 0 0.1 0.2 0.3 0.4 0.5 Time t (s) xR = 0.64 m/s 200 Force (N) Force (N) 100 0.6 0.7 0.8 150 50 0 0.9 Mounting 100 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 Time t (s) (c) xR = 0.16 m/s 150 100 50 0 −50 0 0.1 0.2 0.3 0.4 0.5 Time t (s) xR = 0.64 m/s 80 Force (N) Force (N) 200 0.6 0.7 60 40 20 0 −20 0.8 0 0.05 0.1 0.15 Time t (s) 0.2 (d) xR = 0.16 m/s Fixture 60 40 20 0 −20 0 0.05 0.1 0.15 0.2 0.25 Time t (s) xR = 0.64 m/s 200 Force (N) Force (N) 80 0.3 0.35 150 50 0 −50 0.4 Mounting 100 Fixture 0 0.05 0.1 0.15 Time t (s) 0.2 0.25 0.3 (e) Strategy 0 Strategy 1 Strategy 2 Collision Detection Figure 8. Results of stabbing tests with and without collision detection for the pig tests. (a) screwdriver, (b) steak knife, (c) scissors, (d) kitchen knife, and (e) scalpel. The arrows denote the moment of penetration. DECEMBER 2011 * IEEE ROBOTICS & AUTOMATION MAGAZINE * 29