Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation

Abstract

In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The reason of this interest lies in the application of human-robot-interaction-based technologies in industrial and rehabilitation fields, as well as in daily-life scenarios. The interaction implies communication between two dyadic agents and, if the type of interaction is 'physical', the communication is represented by the set of forces mutually exchanged.