Backdrivable Kinematically Redundant (6+3)-DOF Hybrid Parallel Robot –Part 2:Human–Robot Interaction

This video demonstrates the operation of a novel kinematically redundant (6 3)-dof spatial hybrid parallel robot in a context of physical human-robot interaction. Human intention is detected without using any other sensor than the motor encoders thanks to the backdrivability. The user freely moves and guides the robot to any configuration in its workspace. The demonstration of virtual walls shows the potential of using this robot in haptics applications. Finally, a user can very intuitively teach the robot some target points for pick-and-place tasks. Links to related research articles : - The robot design and analysis (ICRA-2019) : - The forward kinematic analysis (Journal of Mechanisms Robotics-2020) : - The robot analysis and control strategy for applications in pHRI: (TRO-2020 Under Rev