In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction

Abstract

OpenPHRI is a C++/Python general-purpose software scheme with several built-in safety measures designed to ease robot programming for physical human?robot interaction (pHRI) and collaboration. Aside from providing common functionalities, the library can be easily customized and enhanced thanks to the project's open-source nature. The OpenPHRI framework consists of a two-layer damping controller, depicted in Figure 1. This allows the user to provide compliance and other safety features at both the joint and task levels, depending on the application.