PHRIENDS aims to develop a comprehensive methodological framework for the assessment and validation of safe physical human–robot interaction (pHRI).The term robot is considered in a broad sense, including industrial manipulators, mobile robots, wearable exoskeletons, humanoids, quadrupeds, androbotic prostheses, namely any mechatronic system that may physically interact with humans intentionally or unintentionally.
The project addresses a major challenge limiting the widespread adoption of collaborative robotic systems in industrial and biomedical environments: thelack of reliable and biomechanically grounded methodologies for analysing and validating safety in physical interaction. Current standards and industrialpractices still rely on simplified quasi-static or lumped-parameter approaches, which are often inadequate to describe realistic contact and impact dynamics.
PHRIENDS will develop advanced theoretical models, sensing technologies, experimental methodologies, and safety-oriented control strategies for fiverepresentative pHRI scenarios with increasing interaction complexity. The multidisciplinary consortium combines expertise in robotics, biomechanics, appliedmechanics, control systems, and human factors.
The 1st objective is developing physics-informed models capable of predicting interaction forces while accounting for robot dynamics and humanbiomechanical characteristics. Intended and unintended contact will be considered.
The 2nd obj. focuses on unintended human–robot impacts. Novel biofidelic impact devices and high-bandwidth sensing technologies will support systematicand ethically sustainable experimental validation campaigns.
The 3rd obj. extends the framework to hand-guided mobile manipulators, combining digital twins, reduced-order predictive models, and advanced controlstrategies to improve safety and usability during collaborative operations.
The 4th obj. addresses occupational and rehabilitation exoskeletons. Adaptive control systems integrating biomechanical models and wearable sensingtechnologies will compensate for joint misalignment, interface deformation, and slippage, improving force transmission, comfort, and safety.
The 5th obj. focuses on humanoid and quadruped robots operating in shared environments. Predictive dynamic models, motion-capture systems,anthropomorphic dummies, and biofidelic sensors will support quantitative safety assessment methodologies for dynamic mobile robots.
The 6th obj. extended to robotic prostheses, namely to osseointegrated upper-limb devices. The project will characterize mechanical hazards associatedwith load transfer and develop dedicated safety devices and testing protocols for risk assessment and management.
PHRIENDS will advance the scientific foundations of pHRI safety, provide validated tools for next-generation collaborative robotics, and contribute to futureinternational standards for safe human–robot coexistence.
The project addresses a major challenge limiting the widespread adoption of collaborative robotic systems in industrial and biomedical environments: thelack of reliable and biomechanically grounded methodologies for analysing and validating safety in physical interaction. Current standards and industrialpractices still rely on simplified quasi-static or lumped-parameter approaches, which are often inadequate to describe realistic contact and impact dynamics.
PHRIENDS will develop advanced theoretical models, sensing technologies, experimental methodologies, and safety-oriented control strategies for fiverepresentative pHRI scenarios with increasing interaction complexity. The multidisciplinary consortium combines expertise in robotics, biomechanics, appliedmechanics, control systems, and human factors.
The 1st objective is developing physics-informed models capable of predicting interaction forces while accounting for robot dynamics and humanbiomechanical characteristics. Intended and unintended contact will be considered.
The 2nd obj. focuses on unintended human–robot impacts. Novel biofidelic impact devices and high-bandwidth sensing technologies will support systematicand ethically sustainable experimental validation campaigns.
The 3rd obj. extends the framework to hand-guided mobile manipulators, combining digital twins, reduced-order predictive models, and advanced controlstrategies to improve safety and usability during collaborative operations.
The 4th obj. addresses occupational and rehabilitation exoskeletons. Adaptive control systems integrating biomechanical models and wearable sensingtechnologies will compensate for joint misalignment, interface deformation, and slippage, improving force transmission, comfort, and safety.
The 5th obj. focuses on humanoid and quadruped robots operating in shared environments. Predictive dynamic models, motion-capture systems,anthropomorphic dummies, and biofidelic sensors will support quantitative safety assessment methodologies for dynamic mobile robots.
The 6th obj. extended to robotic prostheses, namely to osseointegrated upper-limb devices. The project will characterize mechanical hazards associatedwith load transfer and develop dedicated safety devices and testing protocols for risk assessment and management.
PHRIENDS will advance the scientific foundations of pHRI safety, provide validated tools for next-generation collaborative robotics, and contribute to futureinternational standards for safe human–robot coexistence.