Influence of Human Limb Motion Speed in a Collaborative Hand-over Task

The paper analyses a possible cooperative task between a human operator and a robot. Operator and robot are interfaced by Microsoft Kinect® which is used to detect the position of an upper limb of the operator. The robot is driven by a control algorithm designed to track the hand of the human and to obtain a hand-over in the final part of the trajectory. The paper describes the algorithm and shows its performance with different velocities of the limbs by means of tests carried out in a simulation environment.

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