ROBOT-MEDIATED PHYSICAL HUMAN-HUMAN INTERACTION
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United States of America
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Issued Date -
Dec 26, 2024
app pub date -
Jun 26, 2023
filing date -
Jun 26, 2023
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Abstract
Robot-mediated physical human-human interaction may be implemented by receiving an interaction wrench signal indicative of a wrench force associated with a first robot portion, receiving an end-effector pose signal indicative of a pose associated with a second robot portion, generating a constraint signal indicative of a constraint associated with the first robot portion based on the end-effector pose signal associated with the second robot portion, and implementing the constraint associated with the first robot portion as feedback on the second robot portion. The robot-mediated physical human-human interaction may enable creation of robot-mediated physical interaction between multiple humans in a general setting while considering constraints with different priorities for each robot portion.
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