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Advancements in the domain of physical human-robot interaction (pHRI) havetremendously improved the ability of humans and robots to communicate,collaborate, and coexist. In particular, compliant robotic systems offer manycharacteristics that can be leveraged towards enabling physical interactionsthat more efficiently and intuitively communicate intent, making compliantsystems potentially useful in more physically demanding subsets of human-robotcollaborative scenarios. Tensegrity robots are an example of compliant systemsthat are well-suited to physical interactions while still retaining usefulrigid properties that make them practical for a variety of applications. Inthis paper, we present the design and preliminary testing of a 6-bar sphericaltensegrity with force-sensing capabilities. Using this prototype, wedemonstrate the ability of its force-sensor array to detect a variety ofphysical interaction types that might arise in a human context. We then trainand test a series of classifiers using data from unique and representativeinteractions in order to demonstrate the feasibility of using this physicalmodality of sensing to reliably communicate goals and intents from a humanoperator in a human-robot collaborative setting.

Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems