Exoscarne: Assistive Strategies for an Industrial Meat Cutting System Based on Physical Human-Robot Interaction - Université Clermont Auvergne Access content directly
Journal Articles Applied Sciences Year : 2021

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

Harsh Maithani
  • Function : Author
  • PersonId : 1097086
Laurent Lequievre
Youcef Mezouar

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
Fichier principal
Vignette du fichier
applsci-1180630_PROOF.pdf (29.73 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-03209657 , version 1 (27-04-2021)

Licence

Identifiers

  • HAL Id : hal-03209657 , version 1

Cite

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, 2021, 11 (9), pp.3907. ⟨hal-03209657⟩
92 View
82 Download

Share

Gmail Mastodon Facebook X LinkedIn More