Towards Safer Collaboration - Closing the Loop on Position and Stiffness of Soft Articulated Robots

With the expansion of collaborative robots, the necessity to ensure safe interaction between humans and robots has also arisen. Herein, a paradigm is proposed that considers closed loop control of both position and stiffness in soft articulated robots. More precisely, we propose and discuss a methodology entailing results on decoupled adaptive control, where the information about the current stiffness is obtained via input-state estimators.https://youtu.be/WBykY-k_wy