PhD project:
PhD project:
Physical Human-Robot Interaction (pHRI) using a
Physical Human-Robot Interaction (pHRI) using a
Macro-Mini System.
Macro-Mini System.
Embedded Files
(to be updated)
1. Overview
1. Overview
Schematic of a Macro-Mini System:
A combination of a gantry 3-dof and a hybrid parallel robot (right)
3D CAD model of the mini robot.
2. Publications
2. Publications
On the stability of macro-mini systems for pHRI - MMT 2023
https://doi.org/10.1016/j.mechmachtheory.2023.105304
Physical Human-Robot Interaction using a Macro-Mini Robotic System - TMECH 2023
https://doi.org/10.1109/TMECH.2023.3267781
A task-level approach for the position control of macro-mini robotic systems - Part I: Journal of Systems and Control Engineering 2025
3. Demo videos
3. Demo videos
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