@conference {AMC08,
	title = {Physical Human-Robot Interaction: Dependability, Safety, and Performance},
	booktitle = {Proc. 10th Intl. Workshop Advanced Motion Control},
	year = {2008},
	pages = {9-14},
	abstract = {<p>In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.</p>
},
	keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics},
	author = {A. Bicchi and M. Bavaro and G. Boccadamo and D. De Carli and R. Filippini and G. Grioli and M. Piccigallo and A. Rosi and R. Schiavi and S. Sen and G. Tonietti}
}
@inbook {BSSTB06,
	title = {Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI},
	booktitle = {European Robotics Symposium 2006},
	series = {Springer Tracts in Advanced Robotics},
	volume = {22},
	year = {2006},
	pages = {109 - 118},
	publisher = {Springer Berlin / Heidelberg},
	organization = {Springer Berlin / Heidelberg},
	abstract = {<p>In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.</p>
},
	keywords = {Physical Human-Robot Interaction (pHRI), Robotics},
	author = {G. Boccadamo and R. Schiavi and S. Sen and G. Tonietti and A. Bicchi},
	editor = {H. Christensen}
}
