IEEE Robotics & Automation Magazine - June 2018 - 28

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Using a
Passive Parallel
Mechanism

Intuitive Physical
Human-Robot
Interaction
By Nicolas Badeau, Clément Gosselin, Simon Foucault,
Thierry Laliberté, and Muhammad E. Abdallah

I

n this article, we propose a novel passive mechanism
and a macro-mini architecture for effective and intuitive physical human-robot interaction (pHRI). The
macro-mini concept allows the use of a mini low-impedance passive (LIP) mechanism to effortlessly and intuitively control a macro high-impedance active (HIA)
system such as a gantry manipulator. The proposed mini
LIP design is based on a three-degrees-of-freedom (3-DoF)
translational parallel mechanism, which makes it simple
and compact, thereby adding little inertia to the end-effector of the macro HIA mechanism.

Digital Object Identifier 10.1109/MRA.2018.2800520
Date of publication: 26 April 2018

28

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IEEE ROBOTICS & AUTOMATION MAGAZINE

*

JUNE 2018

Industrial Applications
Fast-evolving industrial environments require robotic systems that are highly precise, powerful, and as flexible and
dexterous as human workers. Human-robot collaboration is
a rapidly growing field wherein actuated systems either
interact with humans or are actively controlled by humans.
The common model of pHRI consists of a human user
guiding the motion of a robot through direct physical contact. To behave intuitively, the robot should ideally be as
responsive as a human coworker. Such agile behavior is difficult to produce, especially in robots that have large payload
capabilities. This is often the case in industrial applications
involving exhausting tasks, human-fine manipulation
adaptability, or forces that are beyond ergonomically feasible ranges.
1070-9932/18©2018IEEE



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IEEE Robotics & Automation Magazine - June 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2018

Contents
IEEE Robotics & Automation Magazine - June 2018 - Cover1
IEEE Robotics & Automation Magazine - June 2018 - Cover2
IEEE Robotics & Automation Magazine - June 2018 - Contents
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