Using Franka Emika collaborative robot as a haptic device

Abstract

This study investigates the feasibility of using a collaborative robot as a haptic device. The research analyzes the robot's behavior across a range of frequencies relevant to human interaction under two opposite operating conditions: free movement and highly constrained movement. To characterize the robot's performance, simplified models are estimated. The resulting dynamics is compared with those of other mechanisms specifically designed for haptic rendering. The study identifies two key challenges: the anisotropy of the apparent inertia and the presence of resonance. In particular, resonance in constrained motion results in a reduced perceived impedance, deviating from the sensation of rigid contact. In order to address this issue, the study examines the application of viscosity to dampen resonance and improve user experience. The findings indicate that with appropriate adjustments and control techniques, a collaborative robot can indeed serve as a haptic device, offering comparable performance to that of specialized haptic mechanisms.