Tactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction

ArXi:2605.28412v1 Announce Type: cross Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor fusion framework for natural physical human-robot interaction. Tactile cues from pneumatic skin pads serve as contact indicators that bypass the ambiguity between frictional residues and applied external forces, enabling highly sensitive contact detection without explicit friction identification.