Exoscarne: Assistive Strategies for an Industrial Meat Cutting System Based on Physical Human-Robot Interaction

Musculoskeletal disorders of the wrist are common in meat industry. A proof concept a physical human-robot interaction (pHRI)-based assistive strategy for an industrial cutting system is demonstrated which can be transferred to exoskeleton later. We discuss how robot assist human pHRI, specifically context project i.e developed impedance control-based that enables KUKA LWR provide forces professional butcher while simultaneously allowing motion knife (tool) all degrees freedom. two strategies—a force amplification and intent prediction strategy—and integrated them into controller.