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Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration

Publikation: Beitrag in FachzeitschriftArtikelForschungPeer-Review

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  • Technische Universität Berlin

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OriginalspracheEnglisch
Seiten (von - bis)7547 - 7554
Seitenumfang8
FachzeitschriftIEEE Robotics and Automation Letters
Jahrgang10
Ausgabenummer7
Frühes Online-Datum2 Juni 2025
PublikationsstatusVeröffentlicht - Juli 2025

Abstract

Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on inertial measurement units (IMUs) consisting of accelerometers and gyroscopes is advantageous for reducing delays. The acceleration estimation enables the direct calculation of external forces. For serial robots, the installation of multiple accelerometers and gyroscopes is required for dynamics modeling since the joint coordinates are the minimal coordinates. Alternatively, parallel robots (PRs) offer the potential to use only one IMU on the end-effector platform, which already presents the minimal coordinates of the PR. This work introduces a sensor-fusion method for contact detection using encoders and only one low-cost, consumer-grade IMU for a PR. The end-effector accelerations are estimated by an extended Kalman filter and incorporated into the dynamics to calculate external forces. In real-world experiments with a planar PR, we demonstrate that this approach reduces the detection duration by up to 50% compared to a momentum observer and enables collision and clamping detection within 3–39 ms.

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Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. / Mohammad, Aran; Piosik, Jan; Lehmann, Dustin et al.
in: IEEE Robotics and Automation Letters, Jahrgang 10, Nr. 7, 07.2025, S. 7547 - 7554.

Publikation: Beitrag in FachzeitschriftArtikelForschungPeer-Review

Mohammad A, Piosik J, Lehmann D, Seel T, Schappler M. Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. IEEE Robotics and Automation Letters. 2025 Jul;10(7):7547 - 7554. Epub 2025 Jun 2. doi: 10.1109/LRA.2025.3575326, 10.48550/arXiv.2505.08334
Mohammad, Aran ; Piosik, Jan ; Lehmann, Dustin et al. / Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration. in: IEEE Robotics and Automation Letters. 2025 ; Jahrgang 10, Nr. 7. S. 7547 - 7554.
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