A reachability-based safety shield classifies possible human-robot contacts as constrained or unconstrained and limits robot kinetic energy to injury thresholds per contact type, enabling faster collaborative manipulation.
Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limiting,
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A General Safety Framework for Autonomous Manipulation in Human Environments
A reachability-based safety shield classifies possible human-robot contacts as constrained or unconstrained and limits robot kinetic energy to injury thresholds per contact type, enabling faster collaborative manipulation.