This video presents a redundantly actuated spatial parallel robot designed for sensorless physical human-robot interaction. All direct-drive motors are located on the base of the robot, resulting in low moving mass and low inertia at the end-effector, as well as excellent backdrivability.
Thanks to proprioceptive actuation, the robot enables low-impedance and high-bandwidth physical interaction without the need for force or torque sensors, even with redundant actuation. In addition, actuation redundancy allows the robot to avoid singularities, ensuring continuous and intuitive physical human-robot interaction over a large workspace.
Arda Yigit, Simon Foucault, Clément Gosselin
IEEE International Conference on Robotics and Automation (ICRA) 2026, Vienna, Austria
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