Performance and interaction quality variations of a collaborative Cable-Driven Parallel Robot

In the field of large scale robotic, which is often remotely operated, having direct interaction can be disruptive for applications such as moving heavy loads or 3D printing. A Cable-Driven Parallel Robot (CDPR) used here in physical Human–Robot Interactions (pHRI) with an admittance-based control strategy to physically interact a user tele-operation co-manipulation mode. experiment involving participants designed assess performance human–robot team given task completion. Task and quality metrics are defined recorded during experiments different robot configurations. The novelty provide methodology compare configurations based on metrics. accounts variations along time use assert training effect leading progression regression performances. apparatus includes CDPR, composed targets reach handle equipped force sensor acting input fixed admittance robot. Collected data show that performances vary denote variation profiles among population. Distribution these analysed determine configuration has best users.