Preliminary Design and Control of an Operator-Assistance System Integrated into a Cobot, for Anatomical Meat-Cutting Process

Alexis Babut, Chedli Bouzgarrou, Laurent Sabourin, Nicolas Bouton

2025

Abstract

This paper presents the preliminary design and control of a collaborative robotic cell for operator assistance in tasks involving soft material manipulation, such as meat cutting. The system integrates force/torque sensors and employs a Cartesian admittance controller to enable compliant, intuitive physical interaction. The mechanical design of the end-effector, the control architecture, and the communication strategy are described. Initial experiments validate the system’s ability to provide stable and responsive assistance in a physical Hu-man–Robot Interaction (pHRI) context.

Paper Citation

in Harvard Style

Babut A., Bouzgarrou C., Sabourin L. and Bouton N. (2025). Preliminary Design and Control of an Operator-Assistance System Integrated into a Cobot, for Anatomical Meat-Cutting Process. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: COBOTA; ISBN 978-989-758-770-2, SciTePress, pages 541-551. DOI: 10.5220/0013928400003982

in Bibtex Style

@conference{cobota25,
author={Alexis Babut and Chedli Bouzgarrou and Laurent Sabourin and Nicolas Bouton},
title={Preliminary Design and Control of an Operator-Assistance System Integrated into a Cobot, for Anatomical Meat-Cutting Process},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: COBOTA},
year={2025},
pages={541-551},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013928400003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: COBOTA
TI - Preliminary Design and Control of an Operator-Assistance System Integrated into a Cobot, for Anatomical Meat-Cutting Process
SN - 978-989-758-770-2
AU - Babut A.
AU - Bouzgarrou C.
AU - Sabourin L.
AU - Bouton N.
PY - 2025
SP - 541
EP - 551
DO - 10.5220/0013928400003982
PB - SciTePress