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Physical Human Robot Interaction: The aim of this research is to study about novel control algorithms to control robot in human environment. This interaction can be either intentional or accidental.  The main idea is to estimate external interactions (without using torque sensor information) and to increase the compliance of the system relying on fast control loops. The estimated interaction is further used to derive the robot appropriately. The algorithms are mainly implemented on KUKA LWR4 and iiwa robot arm.


  • Dr. Mehdi Keshmiri, Professor, Robotics, Isfahan University of Technology, Isfahan    
  • Dr. Hamid Sadeghian, Assistant Professor, Robotics and control, University of Isfahan, Isfahan    
  • Dr. Abbas Karami, PhD, Isfahan University of Technology, Isfahan    


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