Frontiers paper on physical HRI

The paper "A user study on personalized stiffness control and task specificity in physical Human-Robot Interaction" authored by S. Gopinathan, S. Ötting and J.J. Steil has appeared in Frontiers in Robotics and AI, Section Humanoid Robotics. It proposes and evaluates a novel personalized adaptive stiffness control scheme to facilitate joint manipulation tasks where an impedance-controlled robot and a human truely and physically cooperate. The method was evaluated with 49 users on two tasks and compared to three more conventional control schemes, namely fixed high or medium stiffness and gravity compensation.