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Physical human-robot collaboration: robotic systems, learning methods, collaborative strategies, sensors and actuators

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This paper presents a state-of-the-art survey on robotic systems, sensors, actuators and collaborative strategies for Physical Human-Robot Collaboration (pHRC). The paper starts with an overview of some robotic systems with cutting edge technologies (sensors and actuators) suitable for pHRC operations and the intelligent assist devices employed in pHRC. Sensors being among the essential components to establish communication between a human and a robotic system are surveyed. The sensor supplies the signal needed to drive the robotic actuators. The survey reveals that the design of new generation collaborative robots and other intelligent robotic systems has paved the way for sophisticated learning techniques and control algorithms to be deployed in pHRC. Furthermore, it revealed relevant components needed to be considered for effective pHRC to be accomplished. Finally, a discussion of the major advances made, some research directions, and future challenges are presented.
Original languageEnglish
Number of pages14
JournalIEEE Transactions on Cybernetics
Early online date20 Nov 2019
Publication statusEarly online - 20 Nov 2019


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    Accepted author manuscript (Post-print), 5.6 MB, PDF document

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