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In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction

Benjamin Navarro 1, 2 Aïcha Fonte 2 Philippe Fraisse 1 Gérard Poisson 2 Andrea Cherubini 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 IRAUS
PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
Abstract : Open PHRI is a C++/Python general-purpose software scheme with several built-in safety measures designed to ease robot programming for physical human-robot interaction (pHRI) and collaboration. Aside from providing common functionalities, the library can be easily customized and enhanced thanks to the project's open-source nature. The OpenPHRI framework consists of a two-layer damping controller, depicted in Figure 1. This allows the user to provide compliance and other safety features at both the joint and task levels, depending on the application.
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Benjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini. In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction. IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2018, 25 (2), pp.39-50. ⟨10.1109/MRA.2018.2810098⟩. ⟨hal-01818911⟩

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