文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 253–270
ate/mechmt
Review
An atlas of physical human–robot interaction
Agostino De Santis a, Bruno Siciliano a,*, Alessandro De Luca b, Antonio hi c
a Dipartimento di Informatica e Sistemistica, Universita` degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy
b Dipartimento di Informatica e Sistemistica ‘‘A. Ruberti’’, Universita` degli Studi di Roma ‘‘La Sapienza’’,
Via Eudossiana 18, 00184 Roma, Italy
c Centro Interdipartimentale di Ricerca ‘‘E. Piaggio’’, Universita` degli Studi di Pisa, Via Diotisalvi 2, 56125 Pisa, Italy
Received 15 September 2006; accepted 15 March 2007
Available online 18 May 2007
Abstract
A broad spectrum of issues have to be addressed in order to tackle the problem of a safe and dependable physical
Human–Robot Interaction (pHRI). In the immediate future, metrics related to safety and dependability have to be found
in order to essfully introduce robots in everyday enviornments. While there are certainly also ‘‘cognitive’’ issues
involved, due to the human perception of the robot (and vice versa), and other objective metrics related to fault detection
and isolation, our discussion focuses on the peculiar aspects of ‘‘physical’’ interaction with robots. In particular, safety and
dependability are the underlying evaluation criteria for mechanical design, actuation, and control architectures. Mechan-
ical and control issues are discussed with emphasis on techniques that provide safety in an intrinsic way or by means of
ponents. Attention is devoted to dependability, mainly related to sensors, control architectures, and fault han-
dling and tolerance. Suggestions are provided to draft metrics for evaluating safety and dependability in pHRI, and ref-
erences to the works of the scientific groups involved in the pHRI plete the study. The present atlas is a result
of the EURON perspective research project ‘‘Phy