RT Journal Article
T1 Exoscarne: Assistive Strategies for an Industrial Meat Cutting System Based on Physical Human-Robot Interaction
A1 Maithani, Harsh
A1 Corrales Ramón, Juan Antonio
A1 Lequievre, Laurent
A1 Mezouar, Youcef
A1 Alric, Matthieu
K1 Physical human-robot interaction
K1 Assistive robotics
K1 Collaborative robots
AB Musculoskeletal disorders of the wrist are common in the meat industry. A proof of concept of a physical human-robot interaction (pHRI)-based assistive strategy for an industrial meat cutting system is demonstrated which can be transferred to an exoskeleton later. We discuss how a robot can assist a human in pHRI, specifically in the context of an industrial project i.e for the meat cutting industry. We developed an impedance control-based system that enables a KUKA LWR robot to provide 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 strategy and an intent prediction strategy—and integrated them into an impedance controller
PB MDPI
YR 2021
FD 2021
LK http://hdl.handle.net/10347/26795
UL http://hdl.handle.net/10347/26795
LA eng
NO Appl. Sci. 2021, 11(9), 3907; https://doi.org/10.3390/app11093907
NO This research received funding from the French government research program Investissements d‘Avenir through the UMTs ACTIA Mécarnéo-AgRobErgo and the project Exoscarne (Call P3A-ICF2A-2I2A, FranceAgriMer) and from the European Union’s Horizon 2020 research and innovation programme under grant agreement nº 869855 (SoftManBot project)
DS Minerva
RD 22 abr 2026