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2 papers

2008Robotics and Autonomous Systems, vol. 56, no. 3, pp. 241-252, DOI: 10.1016/j.robot.2007.08.005

Safety in human-robot interaction: a survey

Bruno Siciliano, Alberto De Santis

Finding: They show that combining force/torque sensors with adaptive control can significantly reduce risks, and existing standards (e.g., ISO) provide a solid framework.

safety collaborative robots

2000Industrial Robot: An International Journal, vol. 27, no. 4, pp. 278-285, DOI: 10.1108/01439910010334289

Force control in robotic manipulation: a review

J. Norberto Pires

Finding: Impedance control is better suited for soft environments, while hybrid control is preferred for rigid surfaces; the choice depends on the application.

force control impedance