Low-cost Force-controlled Arm

Low-cost force-controlled arm: We have developed a highly flexible low-cost force-controlled robotic arm with 7 degrees of freedom, similar to the human arm. This robotic arm has null-space, allowing it to adjust its configuration without change the end pose, thus enabling it to accomplish complex tasks such as obstacle avoidance. Additionally, the robotic arm is equipped with joint torque sensors, making it ideal for force-controlled operations. To further enhance the arm's capabilities, we are currently working on developing human-computer interaction algorithms based on force control principles. These algorithms, including back drive, impedance control, and admittance control, which will enable the robotic arm to better adapt to diverse task requirements and provide ease of use for operators.