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About this paper
Lukas Rustler, Matej Misar, Matej Hoffmann
The authors estimate impact force to decide whether a robot stops. A sensor identifies the contacted link; the system combines its velocity with direction-specific effective mass and stops only when estimated force exceeds the limit. In a UR10e task at 600 mm/s, times averaged 8 seconds with Adaptive Mass versus 14.5 with Factory, a feasibility result, not human-safety validation.
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