Maithani, HarshCorrales Ramón, Juan AntonioLequievre, LaurentMezouar, YoucefAlric, Matthieu2021-08-122021-08-122021Appl. Sci. 2021, 11(9), 3907; https://doi.org/10.3390/app11093907http://hdl.handle.net/10347/26795Musculoskeletal 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 controllereng© 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/)Atribución 4.0 Internacionalhttp://creativecommons.org/licenses/by/4.0/Physical human-robot interactionAssistive roboticsCollaborative robotsjournal article10.3390/app110939072076-3417open access